CN105300338A - Vehicle yaw angle sensor calibration method - Google Patents
Vehicle yaw angle sensor calibration method Download PDFInfo
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- CN105300338A CN105300338A CN201510586778.XA CN201510586778A CN105300338A CN 105300338 A CN105300338 A CN 105300338A CN 201510586778 A CN201510586778 A CN 201510586778A CN 105300338 A CN105300338 A CN 105300338A
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- car load
- yaw angle
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Abstract
The invention discloses a vehicle yaw angle sensor calibration method, and relates to the technical field of yaw angle sensor calibration. According to the calibration method, a time of calibration is carried out before the whole vehicle production line is off; uniform straight running and uniform turning of a vehicle are separately calibrated; calibration leak is avoided when maintenance is carried out. The method comprises the steps that the whole vehicle is placed on a detection station; the angle deviation of a yaw angle sensor are calibrated in the uniform straight running state and the uniform turning state of the whole vehicle; after a safe access request is authenticated, a diagnostic device immediately sends a request to start a yaw angle sensor calibration routine; if the routine starts, a yaw angle sensor calibration routine checking execution result is successfully sent; if calibration is not successful and the calibration time is greater than 7s, the diagnostic device sends a command to stop the yaw angle sensor calibration routine; and if calibration is successful, a calibration state is directly written into an airbag controller, and calibration is completed.
Description
Technical field
The present invention relates to yaw angle transducer calibration technical field, be specifically related to a kind of automobile yaw angle transducer calibration method.
Background technology
The control stability of automobile and driving safety are the important indicators weighing automotive performance, and therefore the yaw angle sensor of automobile arises at the historic moment.
Along with improving constantly of requiring vehicle handling stability and driving safety, the pivot angle signal that a lot of electronic control unit all needs reception yaw angle sensor to send.Therefore, in the electric stabilizing system (ESP) of a lot of middle and high ends vehicle, yaw angle sensor is all integrated with.
Such as, double-clutch automatic gearbox (DCT) receives the pivot angle signal that yaw angle sensor sends following purposes: first purposes is that vehicle is when tempo turn, lateral angles signal in the pivot angle signal that double-clutch automatic gearbox sends according to yaw angle sensor postpones shifting points, suppresses gearshift; Second purposes be vehicle go up a slope or descending time, the regulation of longitudinal angle signal in the pivot angle signal that double-clutch automatic gearbox sends according to yaw angle sensor postpones shifting points, suppresses upshift.
Again such as, self-adaption cruise system (ACC) also receives lateral angles signal in the pivot angle signal that yaw angle sensor sends and the accelerator pedal signal that sends of the angular signal sent in conjunction with rotary angle transmitter and accelerator pedal sensor, when bend lose objects vehicle and when lane change is overtaken other vehicles, keep the speed of a motor vehicle.
Yaw angle sensor is generally be integrated in electric stabilizing system (ESP).Because the paster of yaw angle sensor just may occur certain angular deviation when printed circuit board (PCB), add electric stabilizing system and be arranged on after on car load and also have certain angular deviation.Therefore, all the angular deviation of yaw angle sensor must be eliminated before car load rolls off the production line, namely need to demarcate the angular deviation of yaw angle sensor before car load rolls off the production line.
Demarcating the angular deviation of yaw angle sensor is at present that acquisition node controller by yaw angle sensor has come.It is allow the acquisition node controller of each yaw angle sensor compensate the angular deviation received that mode is demarcated in the angular deviation of existing yaw angle sensor.At present the step of angular deviation demarcation carried out to yaw angle sensor as follows:
1) car load is placed on the angular deviation meeting yaw angle sensor to demarcate on the monitor station of condition.
2) send to respectively the acquisition node controller of each yaw angle sensor by diagnostic device and start demarcation instruction to activate each acquisition node controller, make the acquisition node controller of each yaw angle sensor enter diagnostic mode immediately, and gather the pivot angle signal of this yaw angle sensor current by each acquisition node controller and calculate the pivot angle side-play amount corresponding with the pivot angle signal of this yaw angle sensor.The pivot angle signal sent due to yaw angle sensor comprises lateral angles signal and regulation of longitudinal angle signal, so the pivot angle side-play amount of yaw angle sensor comprises lateral angles side-play amount and regulation of longitudinal angle side-play amount.
3) the pivot angle side-play amount that oneself calculates by the acquisition node controller of each yaw angle sensor is stored in the address of EEPROM (band EEPROM (Electrically Erasable Programmable Read Only Memo)).
4) diagnostic device sends and exits demarcation instruction, and the acquisition node controller of each yaw angle sensor exits diagnostic mode immediately.
5), after vehicle rolls off the production line from production line, the pivot angle signal that each acquisition node controller receives adds that the pivot angle side-play amount be stored in EEPROM is exactly the virtual condition of Current vehicle respectively.
The defect that mode mainly exists following two aspects is demarcated in the angular deviation of above-mentioned yaw angle sensor:
One is the defect that production line rolls off the production line.Angular deviation due to yaw angle sensor is demarcated and is demarcated by the acquisition node controller of yaw angle sensor, if car load only has a yaw angle sensor, the defect that production line rolls off the production line does not exist.If car load has multiple yaw angle sensor, need to demarcate the acquisition node controller of each yaw angle sensor respectively, demarcate often, easily cause the waste in production line man-hour.In addition, acquisition node controller due to each yaw angle sensor is that oneself is demarcated, so the pivot angle side-play amount that the acquisition node controller of each yaw angle sensor detects is also likely different, the pivot angle signal conformance of such yaw angle sensor may have problems.
Two is defects of after-sales service.No matter be the source node damage of yaw angle sensor or the Signal reception node damage of the acquisition node controller of yaw angle sensor, when replacing, all need again to demarcate the angular deviation of yaw angle sensor, and when the source node of yaw angle sensor damages, need to re-start demarcation to each receiving node, so just cause a lot of inconvenience of after-sales service, if one of them Signal reception node of maintenance personal slightly careless spill tag, so the performance of vehicle also can be affected.
Summary of the invention
The present invention is that angular deviation in order to solve existing yaw angle sensor mode of demarcating exists before car load production line rolls off the production line and needs repeatedly to demarcate, production efficiency is low, and easily cause the waste in production line man-hour, the pivot angle signal conformance of yaw angle sensor may have problems, after-sales service inconvenience and easily occur that fixed these of spill tag are not enough, there is provided a kind of angular deviation of yaw angle sensor to demarcate mode only need once demarcate before car load production line rolls off the production line, and from vehicle uniform rectilinear travel and at the uniform velocity turning driving demarcate respectively, production efficiency is high, the waste in production line man-hour can not be caused, the pivot angle signal conformance of yaw angle sensor is good, after-sales service is convenient and simple, a kind of automobile yaw angle transducer calibration method that spill tag is fixed is there will not be during maintenance.
Above technical matters is solved by following technical proposal:
A kind of automobile yaw angle transducer calibration method, car load is provided with microcontroller, and is also provided with respectively by CAN the wheel Declinometer, tachometer of measuring, safety air sac controller, yaw angle sensor, Electronic Speedometer and the diagnostic device that are electrically connected with microcontroller on car load;
Scaling method comprises the steps:
(1.1) car load is placed on monitor station, and allow monitor station the maximum tilt angle of vertical and horizontal both direction can not exceed ± 0.57 °, the acquisition node controller of yaw angle sensor is arranged in safety air sac controller;
(1.2) before demarcating the angular deviation of car load yaw angle sensor, whole vehicle state is made to meet condition below:
A level angle that the acquisition node controller of () yaw angle sensor is installed can not exceed ± and 5 °;
B () speed of a motor vehicle is less than 5 kilometer per hours;
C () vehicle will by the tire free support of correct tire pressure;
(d) normal load, only driver is sitting in position of driver;
E () vehicle fuel tank fuel quantity is low;
F () electric source modes must ensure to be in fired state;
(1.3) angular deviation of car load yaw angle sensor is demarcated comprise the uniform rectilinear of car load under uniform rectilinear's transport condition and travel the at the uniform velocity turning driving angular deviation under at the uniform velocity turning driving state of angular deviation demarcation and car load and demarcate;
(1.3.1) timing signal is carried out when travelling angular deviation to the uniform rectilinear of car load under uniform rectilinear's transport condition, car load in calibration process is made not produce acceleration, namely car load will be made in calibration process to be in uniform rectilinear's transport condition always, because be now an entirety between the main shaft of variator and car load vehicle body, therefore the speed that the main axis speed that Electronic Speedometer measures variator draws is exactly the straight line speed of a motor vehicle of car load, and the described straight line speed of a motor vehicle is drawn by the main axis speed of Electronic Speedometer measurement variator;
(1.3.2) when carrying out timing signal to the at the uniform velocity turning driving angular deviation of car load under at the uniform velocity turning driving state, the centripetal force of car load in calibration process be made constant, car load namely will be made in calibration process to be always at the uniform velocity turning driving state; Because be not now an entirety between the main shaft of variator and car load vehicle body, the straight line speed of a motor vehicle that the main axis speed that therefore Electronic Speedometer measures variator draws is not just the turning speed of a motor vehicle of car load, and now the center of gravity rotating speed of car load is only the turning speed of a motor vehicle of car load;
The described turning speed of a motor vehicle is drawn by following algorithm:
In formula:
V
grepresent the turning speed of a motor vehicle of car load, i.e. the center of gravity rotating speed of car load,
V
1represent the near front wheel speed of car load,
R
1represent the distance of turning center of circle O to the near front wheel center,
R
grepresent the distance of turning center of circle O to car load center of gravity,
L be car load off-front wheel center to car load off hind wheel center between distance,
B be car load center of gravity to car load two front-wheel centers between the vertical range of line,
θ
gfor the angle of the extended line of the line between turning center of circle O to car load center of gravity between line and two trailing wheel centers of car load,
θ
1for the near front wheel deflection angle of car load, be the angle of the extended line of the line between turning center of circle O to left front core wheel between line and two trailing wheel centers of car load,
B is the distance of the line between two trailing wheel centers of car load,
A is the vertical range of center of gravity to the line between the off-front wheel center and the off hind wheel center of car load of car load of car load;
(1.4) under car load uniform rectilinear transport condition and at the uniform velocity the angular deviation of yaw angle sensor is demarcated under turning driving state respectively;
By diagnostic device, safety air sac controller is sent to the request of reading yaw angle and demarcating, safety air sac controller enters acquiescence diagnostic mode and reads yaw angle demarcates state;
Just stop demarcating for having demarcated if yaw angle demarcates state, if yaw angle demarcates state for not demarcate or to demarcate failure, just allow diagnostic device send safety to safety air sac controller and enter request, safety air sac controller enters diagnosis mode of extension and sends safety and enters request;
(1.5) after the safety request of entering is by checking, diagnostic device sends request immediately and starts yaw angle transducer calibration routine;
If routine starts successfully, diagnostic device is waited for that 500ms sends and is checked yaw angle transducer calibration routine execution result;
If demarcation state is greater than 7s for demarcating unsuccessful and nominal time, diagnostic device sends and stops yaw angle transducer calibration routine instructs;
If demarcation state, for demarcate successfully, directly enters next step;
(1.6) the demarcation state outcome that checks according to (1.5) step of diagnostic device, by demarcation state write safety air sac controller;
(1.7) diagnostic device sends and removes the order of safety air sac controller diagnostic trouble code, after removing diagnostic trouble code success, enters diagnosis default mode, demarcates and terminate.
The near front wheel deflection angle theta in this programme turning speed of a motor vehicle
1recorded by the wheel Declinometer be arranged on the near front wheel, the near front wheel speed v in the turning speed of a motor vehicle
1recorded by the tachometer of measuring be arranged on the near front wheel.Wheel Declinometer on car load, tachometer of measuring, safety air sac controller and yaw angle sensor are electrically connected with the microcontroller on car load respectively.The angular deviation of this programme yaw angle sensor is demarcated mode and only need once be demarcated before car load production line rolls off the production line, and from vehicle uniform rectilinear travel and at the uniform velocity turning driving demarcate respectively, production efficiency is high, the waste in production line man-hour can not be caused, the pivot angle signal conformance of yaw angle sensor is good, after-sales service is convenient and simple, there will not be spill tag fixed during maintenance.
As preferably, the near front wheel deflection angle theta in the turning speed of a motor vehicle
1recorded by the wheel Declinometer be arranged on the near front wheel; The near front wheel speed v in the turning speed of a motor vehicle
1recorded by the tachometer of measuring be arranged on the near front wheel.This method for arranging is reliable and stable, and the pivot angle signal conformance of yaw angle sensor is good.
As preferably, the paster center of described acquisition node controller overlaps with the center of gravity of car load.The signal that this method for arranging collects is more reliable and more stable, and the pivot angle signal conformance of yaw angle sensor is better.
The present invention can reach following effect:
The invention enables the angular deviation of yaw angle sensor to demarcate mode only need once demarcate before car load production line rolls off the production line, and from vehicle uniform rectilinear travel and at the uniform velocity turning driving demarcate respectively, production efficiency is high, the waste in production line man-hour can not be caused, the pivot angle signal conformance of yaw angle sensor is good, after-sales service is convenient and simple, there will not be spill tag fixed during maintenance.
Accompanying drawing explanation
Fig. 1 is a kind of circuit theory syndeton schematic block diagram of the present invention.
Fig. 2 is the one demonstration schematic diagram that the present invention calculates the turning speed of a motor vehicle.
Fig. 3 is a kind of schematic flow sheet of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is further illustrated.
Embodiment, a kind of automobile yaw angle transducer calibration method, shown in Fig. 1, Fig. 2 and Fig. 3, car load is provided with microcontroller 9, and is also provided with respectively by CAN 8 the wheel Declinometer 10, tachometer of measuring 11, safety air sac controller 3, yaw angle sensor 6, the Electronic Speedometer 12 that are electrically connected with microcontroller on car load.Diagnostic device 1.Electric stabilizing system 2, self-adaption cruise system 4, double-clutch automatic gearbox 5.
Scaling method comprises the steps:
(1.1) car load is placed on monitor station, and allow monitor station the maximum tilt angle of vertical and horizontal both direction can not exceed ± 0.57 °, the acquisition node controller 7 of yaw angle sensor is arranged in safety air sac controller, and allows the paster center of acquisition node controller overlap with the center of gravity of car load.
(1.2) before demarcating the angular deviation of car load yaw angle sensor, whole vehicle state is made to meet condition below:
A level angle that the acquisition node controller of () yaw angle sensor is installed can not exceed ± and 5 °;
B () speed of a motor vehicle is less than 5 kilometer per hours;
C () vehicle will by the tire free support of correct tire pressure;
(d) normal load, only driver is sitting in position of driver;
E () vehicle fuel tank fuel quantity is low;
F () electric source modes must ensure to be in fired state.
(1.3) angular deviation of car load yaw angle sensor is demarcated comprise the uniform rectilinear of car load under uniform rectilinear's transport condition and travel the at the uniform velocity turning driving angular deviation under at the uniform velocity turning driving state of angular deviation demarcation and car load and demarcate.
(1.3.1) timing signal is carried out when travelling angular deviation to the uniform rectilinear of car load under uniform rectilinear's transport condition, car load in calibration process is made not produce acceleration, namely car load will be made in calibration process to be in uniform rectilinear's transport condition always, because be now an entirety between the main shaft of variator and car load vehicle body, therefore the speed that the main axis speed that Electronic Speedometer measures variator draws is exactly the straight line speed of a motor vehicle of car load, and the described straight line speed of a motor vehicle is drawn by the main axis speed of Electronic Speedometer measurement variator.
(1.3.2) when carrying out timing signal to the at the uniform velocity turning driving angular deviation of car load under at the uniform velocity turning driving state, the centripetal force of car load in calibration process be made constant, car load namely will be made in calibration process to be always at the uniform velocity turning driving state; Because be not now an entirety between the main shaft of variator and car load vehicle body, the straight line speed of a motor vehicle that the main axis speed that therefore Electronic Speedometer measures variator draws is not just the turning speed of a motor vehicle of car load, and now the center of gravity rotating speed of car load is only the turning speed of a motor vehicle of car load;
The described turning speed of a motor vehicle is drawn by following algorithm:
In formula:
V
grepresent the turning speed of a motor vehicle of car load, i.e. the center of gravity rotating speed of car load,
V
1represent the near front wheel speed of car load,
R
1represent the distance of turning center of circle O to the near front wheel center,
R
grepresent the distance of turning center of circle O to car load center of gravity,
L be car load off-front wheel center to car load off hind wheel center between distance,
B be car load center of gravity to car load two front-wheel centers between the vertical range of line,
θ
gfor the angle of the extended line of the line between turning center of circle O to car load center of gravity between line and two trailing wheel centers of car load,
θ
1for the near front wheel deflection angle of car load, be the angle of the extended line of the line between turning center of circle O to left front core wheel between line and two trailing wheel centers of car load,
B is the distance of the line between two trailing wheel centers of car load,
A is the vertical range of center of gravity to the line between the off-front wheel center and the off hind wheel center of car load of car load of car load;
Wherein, the near front wheel deflection angle theta in the turning speed of a motor vehicle
1recorded by the wheel Declinometer be arranged on the near front wheel; The near front wheel speed v in the turning speed of a motor vehicle
1recorded by the tachometer of measuring be arranged on the near front wheel.
(1.4) under car load uniform rectilinear transport condition and at the uniform velocity the angular deviation of yaw angle sensor is demarcated under turning driving state respectively.By diagnostic device, safety air sac controller is sent to the request of reading yaw angle and demarcating, safety air sac controller enters acquiescence diagnostic mode and reads yaw angle demarcates state; Just stop demarcating for having demarcated if yaw angle demarcates state, if yaw angle demarcates state for not demarcate or to demarcate failure, just allow diagnostic device send safety to safety air sac controller and enter request, safety air sac controller enters diagnosis mode of extension and sends safety and enters request.
(1.5) after the safety request of entering is by checking, diagnostic device sends request immediately and starts yaw angle transducer calibration routine; If routine starts successfully, diagnostic device is waited for that 500ms sends and is checked yaw angle transducer calibration routine execution result; If demarcation state is greater than 7s for demarcating unsuccessful and nominal time, diagnostic device sends and stops yaw angle transducer calibration routine instructs; If demarcation state, for demarcate successfully, directly enters next step.
(1.6) the demarcation state outcome that checks according to (1.5) step of diagnostic device, by demarcation state write safety air sac controller.
(1.7) diagnostic device sends and removes the order of safety air sac controller diagnostic trouble code, after removing diagnostic trouble code success, enters diagnosis default mode, demarcates and terminate.
The near front wheel deflection angle theta in this example turning speed of a motor vehicle
1recorded by the wheel Declinometer be arranged on the near front wheel, the near front wheel speed v in the turning speed of a motor vehicle
1recorded by the tachometer of measuring be arranged on the near front wheel.Wheel Declinometer on car load, tachometer of measuring, safety air sac controller and yaw angle sensor are electrically connected with the microcontroller on car load respectively.
The angular deviation of this example yaw angle sensor is demarcated mode and only need once be demarcated before car load production line rolls off the production line, and from vehicle uniform rectilinear travel and at the uniform velocity turning driving demarcate respectively, production efficiency is high, the waste in production line man-hour can not be caused, the pivot angle signal conformance of yaw angle sensor is good, after-sales service is convenient and simple, there will not be spill tag fixed during maintenance.
Diagnostic device sends the diagnosis service of yaw angle transducer calibration to microcontroller by CAN;
Electric stabilizing system receives the transverse direction of yaw angle sensor signal detection vehicle, and the acceleration of longitudinal direction and axletree vertical direction judges whether vehicle breaks away;
The integrated yaw angle sensor of safety air sac controller also sends yaw angle sensor signal to CAN;
Self-adaption cruise system receive transverse acceleration signal in yaw angle sensor in conjunction with steering angle and and accelerator pedal signal, when bend lose objects vehicle and when lane change is overtaken other vehicles, keep the speed of a motor vehicle.
The lateral angles of double-clutch automatic gearbox when tempo turn according to yaw angle postpones shifting points, and suppress gearshift, the regulation of longitudinal angle when ascents and descents according to yaw angle postpones shifting points, suppresses upshift.
Demarcate yaw angle transducer calibration specific implementation and adopt CANUDS diagnosis service.
Describe embodiments of the present invention by reference to the accompanying drawings above, but do not limit by above-described embodiment when realizing, those of ordinary skill in the art can make a variety of changes within the scope of the appended claims or revise.
Claims (3)
1. an automobile yaw angle transducer calibration method, it is characterized in that, car load is provided with microcontroller (9), and is also provided with respectively by CAN (8) the wheel Declinometer (10), tachometer of measuring (11), safety air sac controller (3), yaw angle sensor (6), Electronic Speedometer (12) and the diagnostic device (1) that are electrically connected with microcontroller on car load;
Scaling method comprises the steps:
(1.1) car load is placed on monitor station, and allow monitor station the maximum tilt angle of vertical and horizontal both direction can not exceed ± 0.57 °, the acquisition node controller of yaw angle sensor is arranged in safety air sac controller;
(1.2) before demarcating the angular deviation of car load yaw angle sensor, whole vehicle state is made to meet condition below:
A level angle that the acquisition node controller of () yaw angle sensor is installed can not exceed ± and 5 °;
B () speed of a motor vehicle is less than 5 kilometer per hours;
C () vehicle will by the tire free support of correct tire pressure;
(d) normal load, only driver is sitting in position of driver;
E () vehicle fuel tank fuel quantity is low;
F () electric source modes must ensure to be in fired state;
(1.3) angular deviation of car load yaw angle sensor is demarcated comprise the uniform rectilinear of car load under uniform rectilinear's transport condition and travel the at the uniform velocity turning driving angular deviation under at the uniform velocity turning driving state of angular deviation demarcation and car load and demarcate;
(1.3.1) timing signal is carried out when travelling angular deviation to the uniform rectilinear of car load under uniform rectilinear's transport condition, car load in calibration process is made not produce acceleration, namely car load will be made in calibration process to be in uniform rectilinear's transport condition always, because be now an entirety between the main shaft of variator and car load vehicle body, therefore the speed that the main axis speed that Electronic Speedometer measures variator draws is exactly the straight line speed of a motor vehicle of car load, and the described straight line speed of a motor vehicle is drawn by the main axis speed of Electronic Speedometer measurement variator;
(1.3.2) when carrying out timing signal to the at the uniform velocity turning driving angular deviation of car load under at the uniform velocity turning driving state, the centripetal force of car load in calibration process be made constant, car load namely will be made in calibration process to be always at the uniform velocity turning driving state; Because be not now an entirety between the main shaft of variator and car load vehicle body, the straight line speed of a motor vehicle that the main axis speed that therefore Electronic Speedometer measures variator draws is not just the turning speed of a motor vehicle of car load, and now the center of gravity rotating speed of car load is only the turning speed of a motor vehicle of car load;
The described turning speed of a motor vehicle is drawn by following algorithm:
In formula:
V
grepresent the turning speed of a motor vehicle of car load, i.e. the center of gravity rotating speed of car load,
V
1represent the near front wheel speed of car load,
R
1represent the distance of turning center of circle O to the near front wheel center,
R
grepresent the distance of turning center of circle O to car load center of gravity,
L be car load off-front wheel center to car load off hind wheel center between distance,
B be car load center of gravity to car load two front-wheel centers between the vertical range of line,
θ
gfor the angle of the extended line of the line between turning center of circle O to car load center of gravity between line and two trailing wheel centers of car load,
θ
1for the near front wheel deflection angle of car load, be the angle of the extended line of the line between turning center of circle O to left front core wheel between line and two trailing wheel centers of car load,
B is the distance of the line between two trailing wheel centers of car load,
A is the vertical range of center of gravity to the line between the off-front wheel center and the off hind wheel center of car load of car load of car load;
(1.4) under car load uniform rectilinear transport condition and at the uniform velocity the angular deviation of yaw angle sensor is demarcated under turning driving state respectively;
By diagnostic device, safety air sac controller is sent to the request of reading yaw angle and demarcating, safety air sac controller enters acquiescence diagnostic mode and reads yaw angle demarcates state;
Just stop demarcating for having demarcated if yaw angle demarcates state, if yaw angle demarcates state for not demarcate or to demarcate failure, just allow diagnostic device send safety to safety air sac controller and enter request, safety air sac controller enters diagnosis mode of extension and sends safety and enters request;
(1.5) after the safety request of entering is by checking, diagnostic device sends request immediately and starts yaw angle transducer calibration routine;
If routine starts successfully, diagnostic device is waited for that 500ms sends and is checked yaw angle transducer calibration routine execution result;
If demarcation state is greater than 7s for demarcating unsuccessful and nominal time, diagnostic device sends and stops yaw angle transducer calibration routine instructs;
If demarcation state, for demarcate successfully, directly enters next step;
(1.6) the demarcation state outcome that checks according to (1.5) step of diagnostic device, by demarcation state write safety air sac controller;
(1.7) diagnostic device sends and removes the order of safety air sac controller diagnostic trouble code, after removing diagnostic trouble code success, enters diagnosis default mode, demarcates and terminate.
2. a kind of automobile yaw angle transducer calibration method according to claim 1, is characterized in that, the near front wheel deflection angle theta in the turning speed of a motor vehicle
1recorded by the wheel Declinometer be arranged on the near front wheel; The near front wheel speed v in the turning speed of a motor vehicle
1recorded by the tachometer of measuring be arranged on the near front wheel.
3. a kind of automobile yaw angle transducer calibration method according to claim 1, it is characterized in that, the paster center of described acquisition node controller overlaps with the center of gravity of car load.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109463A (en) * | 2019-05-24 | 2019-08-09 | 安徽江淮汽车集团股份有限公司 | Position calibration compensation method, device, equipment and storage medium in vehicle |
| CN111521984A (en) * | 2020-04-30 | 2020-08-11 | 深圳承泰科技有限公司 | Angle self-calibration method, automobile radar system and automobile |
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| CN105300338B (en) | 2018-01-30 |
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