CN104748725B - Gradient measurement method and device - Google Patents

Abstract

The embodiment of the invention discloses a gradient measurement method and device. The method comprises the following steps: acquiring an x1 axis accelerated speed and a y1 axis accelerated speed, which are output by a multi-axis accelerated speed sensor; calculating to obtain a first coordinate value (x1, y1, z1) corresponding to the x1 axis accelerated speed and the y1 axis accelerated speed in an accelerated speed sensor coordinate system; calculating a second coordinate value (x2, y2, z2) corresponding to the first coordinate value (x1, y1, z1) in a whole vehicle coordinate system according to a conversion matrix of the whole vehicle coordinate system and the accelerated speed sensor coordinate system; and calculating a whole vehicle gradient value according to a transverse coordinate value (x2) in the second coordinate value (x2, y2, z2). By virtue of the technical scheme, the gradient value of a whole vehicle can be accurately obtained under the condition that an arrangement manner of the multi-axis accelerated speed sensor in the whole vehicle is not limited.

Description

Slope measuring method and device

Technical field

The present invention relates to automobile field of measuring technique, more particularly, it relates to a kind of slope measuring method and device.

Background technology

At present, electronic brake system (EPB, Electrical Park Brake) can not only realize conventional robot The function of stopping, moreover it is possible to introduce some and such as clamp again, aid in the Premium Features such as hill start and brake hard.

The realization of EPB functions needs an important information input, i.e. grade information, higher for configuring in prior art Vehicle, grade information directly can be obtained from car load network, and for relatively low vehicle is configured, car load cannot provide gradient letter Breath, so as to cause, EPB functions cannot be realized in relatively low vehicle is configured.

In for the vehicle that car load network cannot provide grade information, EPB functions how are made to be achieved in that this area skill Art personnel's problem demanding prompt solution.

The content of the invention

In view of this, the present invention provides a kind of slope measuring method and device, to realize not limiting many axle accelerations biographies Sensor obtains the value of slope of car load on the premise of the arrangement in car load, accurately.

A kind of slope measuring method, including：

The x of collection multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration；

It is calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁First coordinate figure of axle acceleration (x1, y1, z1)；

According to car load coordinate system and the transformation matrix of acceleration transducer coordinate system, calculate in car load coordinate system with described the Corresponding second coordinate figure (x2, y2, z2) of one coordinate figure (x1, y1, z1)；

The value of slope of car load is calculated according to the abscissa value (x2) in second coordinate figure (x2, y2, z2).

Preferably, it is described to be calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁Axle acceleration The first coordinate figure (x1, y1, z1), including：

According to acceleration of gravity and x₁First mapping relations of axle acceleration are calculated the acceleration transducer coordinate X in system₁In axle and world coordinate system, parallel to the z of gravity direction₂First angle of axle；

According to acceleration of gravity and y₁Second mapping relations of axle acceleration are calculated the acceleration transducer coordinate Y in system₁Axle and the z₂Second angle of axle；

According to first angle, the second angle, the z is calculated₂Corresponding 3rd coordinate figure of unit length on axle is thrown Shadow is to the first coordinate figure (x1, y1, z1) in acceleration transducer coordinate system；

Wherein：

First angle, the second angle are acute angle；

Formula corresponding to first mapping relations or second mapping relations is：

When α is first angle, A is acceleration transducer along x₁The acceleration of axle output, when α is the described second folder During angle, A is acceleration transducer along y₁The acceleration of axle output, g is acceleration of gravity.

Preferably, it is described according to car load coordinate system and the transformation matrix of acceleration transducer coordinate system, calculate car load coordinate The formula adopted with corresponding second coordinate figure (x2, y2, z2) of first coordinate figure (x1, y1, z1) in system, including：

Wherein, (x2, y2, z2) is the second coordinate figure in car load coordinate system, and (x1, y1, z1) is in sensor coordinate system The first coordinate figure, M be coordinate system transformation matrix.

Preferably, the value of slope institute of car load is calculated according to the abscissa value (x2) in second coordinate figure (x2, y2, z2) Using formula, including：

Wherein, value of slope of the α for car load.

Preferably, also include：

The electronic brake system EPB controlled according to the value of slope in car load exports corresponding brake force.

A kind of gradient measuring device, including：

Collecting unit, for gathering the x of multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration；

First computing unit, for being calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁Axle First coordinate figure (x1, y1, z1) of acceleration；

Second computing unit, for the transformation matrix according to car load coordinate system and acceleration transducer coordinate system, calculates whole With corresponding second coordinate figure (x2, y2, z2) of first coordinate figure (x1, y1, z1) in car coordinate system；

3rd computing unit, for calculating car load according to the abscissa value (x2) in second coordinate figure (x2, y2, z2) Value of slope.

Preferably, first computing unit, including：

First angle calcu-lation unit, according to acceleration of gravity and x₁First mapping relations of axle acceleration are calculated described X in acceleration transducer coordinate system₁In axle and world coordinate system, parallel to gravity direction z-axis the first angle；

Second angle calcu-lation unit, according to acceleration of gravity and y₁Second mapping relations of axle acceleration are calculated described Y in acceleration transducer coordinate system₁Axle and the z₂Second angle of axle；

Projecting cell, according to first angle, the second angle, calculates the z₂Unit length the corresponding 3rd on axle Coordinate figure projects to the first coordinate figure (x1, y1, z1) in acceleration transducer coordinate system；

Wherein：

First angle, the second angle are acute angle；

Formula corresponding to first mapping relations or second mapping relations is：

When α is first angle, A is acceleration transducer along x₁The acceleration of axle output, when α is the described second folder During angle, A is acceleration transducer along y₁The acceleration of axle output, g is acceleration of gravity.

Preferably, the formula adopted by second computing unit, including：

Wherein, (x2, y2, z2) is the second coordinate figure in car load coordinate system, and (x1, y1, z1) is in sensor coordinate system One coordinate figure, M are coordinate system transformation matrix.

Preferably, the formula adopted by the 3rd computing unit, including：

Wherein, value of slope of the α for car load.

Preferably, also include：

Control unit, it is corresponding for the electronic brake system EPB outputs in car load are controlled according to the value of slope Brake force.

It can be seen from above-mentioned technical scheme that, the scheme of the application, the integrated multi-shaft acceleration transducer in car load are led to The acceleration for crossing the multi-shaft acceleration transducer output can be derived that the value of slope of car load；Further, since the scheme of the application exists When obtaining the value of slope of car load, the conversion that acceleration transducer coordinate is tied to car load coordinate system is carried out, so, the side of the application Case can not limit the multi-shaft acceleration transducer on the premise of the arrangement in car load, be accurately obtained car load Value of slope.

Description of the drawings

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.

Fig. 1 is a kind of slope measuring method flow schematic diagram of the embodiment of the present invention；

Fig. 2 is calculated correspondence x-axis acceleration and y-axis acceleration in acceleration transducer coordinate system for the embodiment of the present invention The first coordinate figure method flow schematic diagram；

Fig. 3 is a kind of gradient measuring device structural representation of the embodiment of the present invention；

Apparatus structure schematic diagrams of the Fig. 4 for the first computing unit of the embodiment of the present invention.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

The embodiment of the present invention provides a kind of slope measuring method and device, to realize not limiting multi-shaft acceleration transducer On the premise of the arrangement in car load, the value of slope of car load is accurately obtained.

As shown in figure 1, gradient method disclosed in the embodiment of the present application, including：

Step S101, the x of collection multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration；

Specifically, the multi-shaft acceleration transducer in the present embodiment is that double-axel acceleration sensor or 3-axis acceleration are sensed Device.Wherein, double-axel acceleration sensor is referred to while the sensor of the acceleration of two mutually perpendicular directions can be exported, and 3-axis acceleration sensor is then referred to while the sensor of three acceleration can be exported, and the direction of three acceleration is two-by-two It is mutually perpendicular to.

When the multi-shaft acceleration transducer is double-axel acceleration sensor, the x of multi-shaft acceleration transducer output₁Axle Acceleration and y₁Axle acceleration is the orthogonal acceleration of both direction of double-axel acceleration sensor output；When the multiaxis When acceleration transducer is 3-axis acceleration sensor, the x of multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration For any two in three acceleration of 3-axis acceleration sensor output.

In addition, it may also be noted that in the present embodiment, multi-shaft acceleration transducer is integrated in car load, and the multiaxis Acceleration transducer can arbitrarily arrange in car load that is, the coordinate axess of acceleration transducer coordinate system can be with car load coordinate system In corresponding coordinate axess it is not parallel, in short, acceleration coordinate system and car load coordinate system can have space angle.

Step S102, it is calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁Axle acceleration First coordinate figure (x1, y1, z1)；

Wherein, the acceleration transducer coordinate system refers to the sky set up with multiple axles of multi-shaft acceleration transducer Between coordinate system, the number axis that the space coordinates belong in Descartes's rectangular coordinate system, i.e. coordinate system is mutually perpendicular to.

Step S103, according to car load coordinate system and the transformation matrix of acceleration transducer coordinate system, calculate car load coordinate system In with corresponding second coordinate figure (x2, y2, z2) of first coordinate figure (x1, y1, z1)；

It should be noted that the car load coordinate system still falls within Descartes's rectangular coordinate system, the origin in car load coordinate system Overlap with the barycenter of car load, travel direction of the x-axis parallel to car load, direction of the y-axis parallel to left-hand door to right car door, z-axis are put down Row is in the direction of roof to underbody.

The corresponding acceleration transducer coordinate system of multi-shaft acceleration transducer in car load is integrated into and car load coordinate system When having space angle, there is the transformation matrix of car load coordinate system and acceleration transducer coordinate system, according to the transformation matrix, can be with Coordinate figure in acceleration transducer coordinate system is projected in car load coordinate system.

Step S104, the gradient that car load is calculated according to the abscissa value (x2) in second coordinate figure (x2, y2, z2) Value.

It should be noted that the value of slope in the present embodiment refers to x-axis in car load coordinate system (the i.e. traveling side of car load To or abscissa) angle with horizontal plane (horizontal plane that x-axis i.e. in world coordinate system, y-axis are constituted).When car load is travelled in water During plane, the value of slope is 0, and when car load uphill, downhill or car load are in the gradient side stopping time, the value of slope (does not include between 0~180 Endpoint value 0 and 180).

The slope measuring method that the embodiment of the present application is provided, in car load, integrated multi-shaft acceleration transducer, more by this The acceleration of axle acceleration sensor output can be derived that the value of slope of car load；Further, since when the value of slope of car load is obtained, Carried out the conversion that acceleration transducer coordinate is tied to car load coordinate system, so, the scheme of the application can not limit it is described Multi-shaft acceleration transducer is accurately obtained the value of slope of car load on the premise of the arrangement in car load.

Further, referring to Fig. 2, above-mentioned steps S102 can be implemented as follows：

Step S201, according to acceleration of gravity and x₁First mapping relations of axle acceleration are calculated the acceleration and pass X in sensor coordinate system₁In axle and world coordinate system, parallel to the z of gravity direction₂First angle of axle；

Specifically, acceleration of gravity and x₁Formula corresponding to first mapping relations of axle acceleration is：

A_x=g sin (90- α_x)=g cos (α_x)

Accordingly,

Wherein, A_xIt is acceleration transducer along x₁The acceleration of axle output, α_xIt is the x in acceleration transducer coordinate system₁Axle With in world coordinate system, parallel to the z of gravity direction₂First angle of axle.

Step S202, according to acceleration of gravity and y₁Second mapping relations of axle acceleration are calculated the acceleration and pass Y in sensor coordinate system₁Axle and the z₂Second angle of axle；

Specifically, acceleration of gravity and y₁Formula corresponding to second mapping relations of axle acceleration is：

A_y=g sin (90- α_y)=g cos (α_y)

Accordingly,

Wherein, A_yIt is acceleration transducer along y₁The acceleration of axle output, α_yIt is the y in acceleration transducer coordinate system₁Axle With in world coordinate system, parallel to the z of gravity direction₂First angle of axle.

It should be noted that in order to meet practical application, the first angle, the second angle in the present embodiment is acute angle.

Step S203, according to first angle, the second angle, calculate the z₂Unit length the corresponding 3rd on axle Coordinate figure projects to the first coordinate figure (x1, y1, z1) in acceleration transducer coordinate system；

Wherein, in the z-axis of world coordinate system corresponding 3rd coordinate figure of unit length for (0,0,1),

Accordingly, the first coordinate figure the 3rd coordinate figure projected in acceleration transducer coordinate system is

(cos(α_x), cos (α_y), [1-cos²(α_x)-cos²(α_y)]^0,5)。

Specifically, the formula adopted by step S103 for：

Wherein, (x2, y2, z2) is the second coordinate figure in car load coordinate system, and (x1, y1, z1) is in sensor coordinate system The first coordinate figure, M be coordinate system transformation matrix.

Specifically, specifically, the formula adopted by step S104 for：

Wherein, value of slope of the α for car load.

In order that the EPB functions in car load are achieved, further, the present embodiment also includes：

The electronic brake system EPB controlled according to the value of slope in car load exports corresponding brake force.

Below the service data processing apparatus that the embodiment of the present application is provided are described, at business datum described below Reason device can be mutually to should refer to above-described business data processing method.

Referring to Fig. 3, Fig. 3 is a kind of gradient measuring device structural representation disclosed in the embodiment of the present application.

As shown in figure 3, the device includes：

Collecting unit 31, for gathering the x of multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration；

First computing unit 32, for being calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁ First coordinate figure (x1, y1, z1) of axle acceleration；

Second computing unit 33, for the transformation matrix according to car load coordinate system and acceleration transducer coordinate system, calculates With corresponding second coordinate figure (x2, y2, z2) of first coordinate figure (x1, y1, z1) in car load coordinate system；

3rd computing unit 34, for calculating whole according to the abscissa value (x2) in second coordinate figure (x2, y2, z2) The value of slope of car.

The gradient measuring device that the embodiment of the present application is provided, in car load, integrated multi-shaft acceleration transducer, more by this The acceleration of axle acceleration sensor output can be derived that the value of slope of car load；Further, since when the value of slope of car load is obtained, Carried out the conversion that acceleration transducer coordinate is tied to car load coordinate system, so, the scheme of the application can not limit it is described Multi-shaft acceleration transducer is accurately obtained the value of slope of car load on the premise of the arrangement in car load.

Optionally, as shown in figure 4, the first computing unit includes：

First angle calcu-lation unit 41, according to acceleration of gravity and x₁First mapping relations of axle acceleration are calculated institute State the x in acceleration transducer coordinate system₁In axle and world coordinate system, parallel to gravity direction z-axis the first angle；

Second angle calcu-lation unit 42, according to acceleration of gravity and y₁Second mapping relations of axle acceleration are calculated institute State the y in acceleration transducer coordinate system₁Axle and the z₂Second angle of axle；

Projecting cell 43, according to first angle, the second angle, calculates the z₂Unit length corresponding on axle Three coordinate figures project to the first coordinate figure (x1, y1, z1) in acceleration transducer coordinate system.

Wherein, first angle, the second angle are acute angle；

Formula corresponding to first mapping relations or second mapping relations is：

When α is first angle, A is acceleration transducer along x₁The acceleration of axle output, when α is the described second folder During angle, A is acceleration transducer along y₁The acceleration of axle output, g is acceleration of gravity.

Optionally, the formula adopted by the second computing unit, including：

Wherein, (x2, y2, z2) is the second coordinate figure in car load coordinate system, and (x1, y1, z1) is in sensor coordinate system One coordinate figure, M are coordinate system transformation matrix.

Optionally, the formula adopted by the 3rd computing unit, including：

Wherein, value of slope of the α for car load.

Optionally, in order that the EPB functions in car load are achieved, on the basis of Fig. 3, the slope detection device is also wrapped Include：

Control unit, it is corresponding for the electronic brake system EPB outputs in car load are controlled according to the value of slope Brake force.

Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by One entity or operation are made a distinction with another entity or operation, and are not necessarily required or implied these entities or operation Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant are anticipated Covering including for nonexcludability, so that a series of process, method, article or equipment including key elements not only includes that A little key elements, but also including other key elements being not expressly set out, or also include for this process, method, article or The intrinsic key element of equipment.In the absence of more restrictions, the key element for being limited by sentence "including a ...", does not arrange Except also there is other identical element in including the process of the key element, method, article or equipment.

In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.

The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the application. Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in the case of without departing from spirit herein or scope in other embodiments.Therefore, the application The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The most wide scope for causing.

Claims (10)

1. a kind of slope measuring method, it is characterised in that include：

The x of collection multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration；

It is calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁Axle acceleration the first coordinate figure (x1, Y1, z1)；

According to car load coordinate system and the transformation matrix of acceleration transducer coordinate system, sit with described first in calculating car load coordinate system Corresponding second coordinate figure (x2, y2, z2) of scale value (x1, y1, z1)；

The value of slope of car load is calculated according to the abscissa x2 in second coordinate figure (x2, y2, z2).

2. slope measuring method according to claim 1, it is characterised in that described to be calculated acceleration transducer coordinate The correspondence x in system₁Axle acceleration and y₁First coordinate figure (x1, y1, z1) of axle acceleration, including：

According to acceleration of gravity and x₁First mapping relations of axle acceleration are calculated in the acceleration transducer coordinate system x₁In axle and world coordinate system, parallel to the z of gravity direction₂First angle of axle；

According to acceleration of gravity and y₁Second mapping relations of axle acceleration are calculated in the acceleration transducer coordinate system y₁Axle and the z₂Second angle of axle；

According to first angle, the second angle, the z is calculated₂Corresponding 3rd coordinate figure of unit length on axle is projected to and is added The first coordinate figure (x1, y1, z1) in velocity sensor coordinate system；

Wherein：

First angle, the second angle are acute angle；

Formula corresponding to first mapping relations or second mapping relations is：

$\mathrm{\α}=\arccos \left(\frac{A}{g}\right),$

When α is first angle, A is acceleration transducer along x₁The acceleration of axle output, when α is second angle, A is acceleration transducer along y₁The acceleration of axle output, g is acceleration of gravity.

3. slope measuring method according to claim 1, it is characterised in that described to be passed according to car load coordinate system and acceleration The transformation matrix of sensor coordinate system, with corresponding second coordinate of first coordinate figure (x1, y1, z1) in calculating car load coordinate system The formula adopted by value (x2, y2, z2), including：

$\left[\begin{array}{c}x2\\ y2\\ z2\end{array}\right]=M\left[\begin{array}{c}x1\\ y1\\ z1\end{array}\right]$

Wherein, (x2, y2, z2) is the second coordinate figure in car load coordinate system, and (x1, y1, z1) is acceleration transducer coordinate system In the first coordinate figure, M be coordinate system transformation matrix.

4. slope measuring method according to claim 1, it is characterised in that according to second coordinate figure (x2, y2, z2) In abscissa x2 calculate the formula that adopted of value of slope of car load, including：

$\mathrm{\α}=\frac{\mathrm{\π}}{2}-\arccos \left(x2\right)$

Wherein, value of slope of the α for car load.

5. the slope measuring method according to any one of claim 1-4, it is characterised in that also include：

The electronic brake system EPB controlled according to the value of slope in car load exports corresponding brake force.

6. a kind of gradient measuring device, it is characterised in that include：

Collecting unit, for gathering the x of multi-shaft acceleration transducer output₁Axle acceleration and y₁Axle acceleration；

First computing unit, for being calculated the correspondence x in acceleration transducer coordinate system₁Axle acceleration and y₁Axle accelerates First coordinate figure (x1, y1, z1) of degree；

Second computing unit, for the transformation matrix according to car load coordinate system and acceleration transducer coordinate system, calculates car load and sits With corresponding second coordinate figure (x2, y2, z2) of first coordinate figure (x1, y1, z1) in mark system；

3rd computing unit, for the gradient of car load is calculated according to the abscissa x2 in second coordinate figure (x2, y2, z2) Value.

7. gradient measuring device according to claim 6, it is characterised in that first computing unit, including：

First angle calcu-lation unit, according to acceleration of gravity and x₁First mapping relations of axle acceleration are calculated the acceleration X in degree sensor coordinate system₁In axle and world coordinate system, parallel to the z of gravity direction₂First angle of axle；

Second angle calcu-lation unit, according to acceleration of gravity and y₁Second mapping relations of axle acceleration are calculated the acceleration Y in degree sensor coordinate system₁Axle and the z₂Second angle of axle；

Projecting cell, according to first angle, the second angle, calculates the z₂Corresponding 3rd coordinate of unit length on axle Value projects to the first coordinate figure (x1, y1, z1) in acceleration transducer coordinate system；

Wherein：

First angle, the second angle are acute angle；

Formula corresponding to first mapping relations or second mapping relations is：

$\mathrm{\α}=\arccos \left(\frac{A}{g}\right),$

When α is first angle, A is acceleration transducer along x₁The acceleration of axle output, when α is second angle, A is acceleration transducer along y₁The acceleration of axle output, g is acceleration of gravity.

8. gradient measuring device according to claim 6, it is characterised in that the public affairs adopted by second computing unit Formula, including：

$\left[\begin{array}{c}x2\\ y2\\ z2\end{array}\right]=M\left[\begin{array}{c}x1\\ y1\\ z1\end{array}\right]$

Wherein, (x2, y2, z2) is the second coordinate figure in car load coordinate system, and (x1, y1, z1) is in acceleration transducer coordinate system First coordinate figure, M are coordinate system transformation matrix.

9. gradient measuring device according to claim 6, it is characterised in that the public affairs adopted by the 3rd computing unit Formula, including：

$\mathrm{\α}=\frac{\mathrm{\π}}{2}-\arccos \left(x2\right)$

Wherein, value of slope of the α for car load.

10. the gradient measuring device according to any one of claim 6-9, it is characterised in that also include：Control unit, uses Corresponding brake force is exported in the electronic brake system EPB in car load is controlled according to the value of slope.