CN105116167A - Acceleration determination method for motor vehicle running on slope plane - Google Patents
Acceleration determination method for motor vehicle running on slope plane Download PDFInfo
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- 230000001133 acceleration Effects 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 2
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Abstract
The invention discloses an acceleration determination method for a motor vehicle running on a slope plane. The acceleration of an acceleration sensor of the motor vehicle is the vector sum (shown in the description) of a gravitational acceleration of the motor vehicle and an actual output acceleration (vector a) of the motor vehicle, thereby obtaining the square of length of the vector sum (shown in the description). The z-axis component of the acceleration of the acceleration sensor of the motor vehicle (shown in the description) is equal to the z-axis component of the gravitational acceleration of the motor vehicle (shown in the description). The z-axis value of the acceleration of the acceleration sensor of the motor vehicle (shown in the description) is z1. The relation among an inclined angle theta, between the gravity direction of the motor vehicle and a plane where the motor vehicle is located, the gravitational acceleration of the motor vehicle (shown in the description) and the z-axis projection value z1 is cos (theta) = z1/(the length of the gravitational acceleration), thereby obtaining the actual output acceleration (vector a) of the motor vehicle under any slope conditions. The method can precisely measure the actual acceleration of the motor vehicle under various slope conditions.
Description
Technical Field
The invention belongs to the technical field of motor vehicle working condition detection, and particularly relates to a method for determining acceleration of a motor vehicle running on a slope plane.
Background
The acceleration sensor chip is directional in a three-axis coordinate system, and can be applied to a motor vehicle to detect the running acceleration of the vehicle, and the conventional application methods include two methods:
1. a compensation offset value is set to the acceleration sensor to counteract the effect of gravitational acceleration. However, this method has drawbacks: when the motor vehicle runs on a slope, the gravity acceleration and the compensation offset value are not in a straight line and therefore cannot be mutually counteracted, so that the value output by the acceleration sensor is not the real acceleration of the motor vehicle.
2. The acceleration sensor must be horizontally installed on the motor vehicle, only two axes are used when the motor vehicle is powered on, and the coordinate axis which is consistent with the gravity direction is forbidden, but the method also has the defects that: firstly, the installation requirement is high, and once the automobile is not installed in a horizontal position, the output acceleration value cannot reflect the acceleration of the automobile; secondly, when the motor vehicle runs on a slope, the gravity has a component on a biaxial plane, and the acceleration value of the sensor is the vector sum of the output acceleration value of the motor vehicle and the component of the gravity acceleration value on the biaxial plane.
Therefore, the existing method still cannot accurately confirm the acceleration of the motor vehicle, and the installation requirement of the acceleration sensor is high.
Disclosure of Invention
In view of the above-mentioned problem that the acceleration value of the motor vehicle cannot be accurately confirmed, the present invention provides a method for confirming the acceleration of the motor vehicle, and the obtained acceleration value of the motor vehicle is accurate. In order to achieve the technical purpose, the invention adopts the following technical scheme:
a method for determining the acceleration of a motor vehicle traveling on a gradient plane, comprising: when the automobile runs on a plane with a slope, the acceleration of the acceleration sensor of the motor vehicle is equal to the gravity acceleration of the motor vehicle and the actual output acceleration of the motor vehicleI.e., formula (0):thus, formula (1) is obtained: <math>
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</math> wherein,acceleration measured for an acceleration sensor of the motor vehicle;is the gravitational acceleration of the motor vehicle; theta is a slope angle;is the actual acceleration of the motor vehicle; the included angle theta of the slope surface is equal to the included angle theta between the gravity direction of the motor vehicle and the vertical direction of the plane where the motor vehicle is located;
the measured acceleration of the vehicleComponent of z-axis and gravitational accelerationThe components in the z-axis are equal,has a z-axis value of z1, and the angle theta between the direction of gravity of the motor vehicle and the perpendicular to the plane of the motor vehicle and the gravitational acceleration value of the vehicleThe relation with the z-axis projection value z1 is formula (2): <math>
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</math> <math>
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substituting (2) into (1) to obtain the actual output acceleration value of the motor vehicle under any gradient condition
Preferably, the mounting plane of the acceleration sensor is parallel to the driving plane of the motor vehicle, i.e. the measured acceleration of the vehicleAcceleration measured with sensorAre equal.
Preferably, the included angle alpha between the sensor and the horizontal plane is measured, and the measured acceleration coordinate system value is converted into a standard value according to the coordinate axis conversion matrix R.
Preferably, the driving plane of the motor vehicle forms a sensor angle α with the mounting plane of the acceleration sensor; when the driving plane of the motor vehicle is a horizontal plane, determining a rotation matrix R (alpha) of the driving plane of the motor vehicle rotating to the installation plane of the acceleration sensor; measuring acceleration according to the sensorAnd the rotation matrix R (alpha) determines the measured acceleration of the motor vehicle when the motor vehicle runs on any slopeNamely, it is <math>
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</math> … … … … (equation 3).
Compared with the prior art, the invention has the technical effects that: the actual output acceleration of the motor vehicle is confirmed to be high in accuracy, an acceleration sensor does not need to be horizontally installed according to the standard, the motor vehicle can be installed at any angle, the installation requirement is reduced, and the actual output acceleration can still be accurately detected.
Drawings
FIG. 1 is a force analysis diagram of a motor vehicle according to the present invention;
fig. 2 is a schematic view of an installation angle of the acceleration sensor according to the present invention.
Reference numerals: 1-motor vehicle, 2-acceleration sensor, 3-horizontal plane, 4-driving plane, 5-mounting plane.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
when the motor vehicle 1 stops or runs on the horizontal surface 3, the installation plane 5 of the acceleration sensor 2 on the motor vehicle 1 is parallel to the horizontal surface 3 according to requirements, so that the installation plane 5 of the acceleration sensor 2 is parallel to the running plane 4 of the motor vehicle 1 on any slope, and the acceleration actually measured by the acceleration sensor 2 is actually measured by the sensorAnd measuring acceleration for the vehicleAre equal, i.e.
As shown in fig. 1, in a mechanical analysis of the slope surface of the motor vehicle 1, the motor vehicle 1 travels on a travel plane 4 having a slope surface angle θ with respect to a horizontal plane 3. A three-dimensional rectangular coordinate system of the motor vehicle is established, the plane of the x and y axes is parallel to the slope, and the z axis is perpendicular to the driving plane 4 of the motor vehicle 1. Since the installation plane 5 of the acceleration sensor 2 is parallel to the driving plane 4 of the motor vehicle 1 on any slope, the vehicle three-dimensional coordinate system of the motor vehicle 1 and the three-dimensional rectangular coordinate system of the acceleration sensor 2 are the same coordinate system. In the present embodiment, the acceleration sensor 2 uses a full range, i.e., the three x, y, z axes are all used.
The measured acceleration of the acceleration sensor 2Can be acquired, and the measured acceleration of the vehicleIs acceleration of gravityAnd the actual output acceleration of the motor vehicle 1Is a vector sum ofWherein the force analysis of the motor vehicle 1 can be derived from the cosine formula of the triangle:
In addition, regardless of the output acceleration of the engine of the vehicle, the braking acceleration and the lateral frictional force at the time of cornering, the output acceleration (including the traction acceleration, the braking acceleration and the like) attributed to the vehicle is derived from the frictional force of the wheels, and the frictional force always exists on the plane on which the motor vehicle 1 is located, so that it can be found that the acceleration actually measured by the vehicle is obtainedComponent in the z-axis and acceleration of gravityThe components in the z-axis are equal, so there are:setting actual measurement acceleration of vehicleThe projected value on the z-axis is z1, which is the measured acceleration of the sensorThe z-axis value can be observed, and the gravity accelerationProjected value on z-axis isThus, it is possible to provideThereby obtaining the slope angle theta and the gravity acceleration value of the vehicle actual measurement accelerationAnd z-axis projection value z1 is:
The actual output acceleration value of the motor vehicle 1 can be simply and accurately obtained by the above formula 1 and formula 2
Example two:
the acceleration sensor 2 generally requires its installation plane 5 to be parallel to its driving plane 4, but since there is uncertainty in the interface position of the driving diagnostic systems of various vehicles and it is difficult to find a position on the motor vehicle 1 where it can be installed horizontally, it causes much inconvenience to the user to install the device even if it can be found. Thus, as shown in fig. 2, the mounting planes 5 of the acceleration sensors 2 each form a sensor angle α with the driving plane 4 of the motor vehicle 1 on which they are mounted.
Still as shown in fig. 1, for the mechanical analysis of the slope of the motor vehicle 1, a three-dimensional rectangular coordinate system of the motor vehicle is established, in which the x and y axes are in a plane parallel to the slope and the z axis is perpendicular to the driving plane 4 of the motor vehicle 1. Since the mounting plane 5 of the acceleration sensor 2 forms an angle α with the plane of travel 4 of the motor vehicle 1, a rotation coefficient, i.e. a rotation matrix R (α), is provided between the three-dimensional rectangular coordinate system of the motor vehicle and the three-dimensional rectangular coordinate system of the acceleration sensor 2, so that the acceleration is actually measured from the sensorAnd the rotation matrix R (alpha) determines the measured acceleration of the motor vehicle 1 when it is travelling on any slope
When the running plane 4 of the motor vehicle 1 is the horizontal plane 3, the on-board diagnostic system reads several sets of data, and can learn the rotation matrix R (α) from the running plane 4 of the motor vehicle 1 to the installation plane 5 of the acceleration sensor 2. The acceleration measured by the acceleration sensor 2 is measuredHas been observed to result in a measured acceleration of the vehicleI.e. can be calculated.
Thus, when the motor vehicle 1 is travelling at any slope angle θ, as can be seen from the analysis of fig. 1, the acceleration of the vehicle is actually measuredIs acceleration of gravityAnd the actual output acceleration of the motor vehicle 1Is a vector sum ofWherein the force analysis of the motor vehicle 1 can be derived from the cosine formula of the triangle:
In addition, regardless of the output acceleration of the engine of the vehicle, the braking acceleration and the lateral frictional force at the time of cornering, the output acceleration (including the traction acceleration, the braking acceleration and the like) attributed to the vehicle is derived from the frictional force of the wheels, and the frictional force always exists on the plane on which the motor vehicle 1 is located, so that it can be found that the acceleration actually measured by the vehicle is obtainedComponent in the z-axis and acceleration of gravityThe components in the z-axis are equal, so there are:setting actual measurement acceleration of vehicleThe projected value on the z-axis is z1, which is the measured acceleration of the sensorThe z-axis value can be observed, and the gravity accelerationProjected value on z-axis isThus, it is possible to provideThereby obtaining the slope angle theta and the gravity acceleration value of the vehicle actual measurement accelerationAnd z-axis projection value z1 is:
The actual output acceleration value of the motor vehicle 1 can be obtained from the above-mentioned formula 3, formula 4, and formula 5
Therefore, the acceleration sensor 2 does not need to be horizontally installed according to the standard, can be installed at any angle, reduces the installation requirement and can still ensure that the actual output acceleration value is accurately detected
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A method of determining acceleration of a motor vehicle while traveling on a grade plane, comprising:
determining acceleration of an acceleration sensor of a motor vehicleWhen the automobile runs on a plane with a slope, the acceleration of the acceleration sensor of the motor vehicle is equal to the gravity acceleration of the motor vehicle and the actual output acceleration of the motor vehicleIs a vector sum of
Formula (1) is derived from formula (0):
wherein,acceleration measured for an acceleration sensor of the motor vehicle;is the gravitational acceleration of the motor vehicle; theta is a slope angle;is the actual acceleration of the motor vehicle; the included angle theta of the slope surface is equal to the gravity direction of the motor vehicle and the level of the motor vehicleThe included angle theta of the vertical direction of the surface;
determining the angle theta between the direction of gravity of the motor vehicle and the direction perpendicular to the plane in which the motor vehicle is located and the gravitational acceleration value of the vehicleRelation to z-axis projection value z1, i.e. formula (2):
the measured acceleration of the vehicleComponent of z-axis and gravitational accelerationThe components in the z-axis are equal,has a z-axis value of z1, and the angle theta between the direction of gravity of the motor vehicle and the perpendicular to the plane of the motor vehicle and the gravitational acceleration value of the vehicleThe relation to the z-axis projection value z1 is:
obtaining the actual output acceleration valueSubstituting the formula (2) into the formula (1) to obtain the actual output acceleration value of the motor vehicle under any gradient condition
2. The acceleration determination method of a motor vehicle when traveling on a gradient plane according to claim 1, characterized in that: the mounting plane of the acceleration sensor is parallel to the running plane of the motor vehicle, namely the measured acceleration of the vehicleAcceleration measured with sensorAre equal.
3. The acceleration determination method of a motor vehicle when traveling on a gradient plane according to claim 1, characterized in that: and measuring an included angle alpha between the sensor and the horizontal plane, and converting the actually measured acceleration coordinate system value into a horizontal acceleration coordinate value through the coordinate axis conversion matrix R.
4. The acceleration determination method of a motor vehicle when traveling on a gradient plane according to claim 3, characterized in that: a sensor included angle alpha is formed between a running plane of the motor vehicle and an installation plane of the acceleration sensor; when the driving plane of the motor vehicle is a horizontal plane, determining a rotation matrix R (alpha) of the driving plane of the motor vehicle rotating to the installation plane of the acceleration sensor; measuring acceleration according to the sensorAnd the rotation matrix R (alpha) determines the measured acceleration of the motor vehicle when the motor vehicle runs on any slopeNamely, it is
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106428011A (en) * | 2016-11-25 | 2017-02-22 | 浙江吉利控股集团有限公司 | Control method and control system for worming torque of electric automobile and electric automobile |
| CN107132377A (en) * | 2017-06-13 | 2017-09-05 | 南京越博动力系统股份有限公司 | The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient |
| CN109649436A (en) * | 2018-12-28 | 2019-04-19 | 中国铁道科学研究院集团有限公司通信信号研究所 | High-speed railway automated driving system comfort level index on-line evaluation method and device |
| CN110967523A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Vehicle acceleration detection method and device |
| WO2021022473A1 (en) * | 2019-08-06 | 2021-02-11 | 深圳市大疆创新科技有限公司 | Control method, control device, mobile platform, and storage medium |
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| WO2021022473A1 (en) * | 2019-08-06 | 2021-02-11 | 深圳市大疆创新科技有限公司 | Control method, control device, mobile platform, and storage medium |
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Application publication date: 20151202 |