CN107132377A - The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient - Google Patents
The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient Download PDFInfo
- Publication number
- CN107132377A CN107132377A CN201710441892.2A CN201710441892A CN107132377A CN 107132377 A CN107132377 A CN 107132377A CN 201710441892 A CN201710441892 A CN 201710441892A CN 107132377 A CN107132377 A CN 107132377A
- Authority
- CN
- China
- Prior art keywords
- acceleration
- vehicle
- value
- axis
- measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 130
- 238000005259 measurement Methods 0.000 title claims abstract description 57
- 238000000205 computational method Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005484 gravity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
Abstract
The invention belongs to vehicle traveling field of measuring technique, it is related to the measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient.In described device, acceleration transducer, gyro sensor, power module and communication module are connected with microcontroller respectively, and acceleration transducer is two-axis or triple axle.The computational methods measure real-time acceleration measurement a by acceleration transducer along the y-axis directionMeasured value, the absolute value of real-time slope measurement is measured along the z-axis direction | θMeasured value|, then calculate and obtain vehicle acceleration actual value；Initial value of slope θ is measured along y-axis with acceleration transducer in vehicle launch by elder generation0, the angular velocity omega of slope change is measured along y-axis by gyro sensor, and then slope change value is calculated, then calculate the actual grade value θ=θ obtained residing for vehicle0+△θ.The present invention effectively can measure and distinguish vehicle actual acceleration and the residing gradient.
Description
Technical field
The invention belongs to vehicle driving parameters field of measuring technique, and in particular to a kind of vehicle acceleration and the residing gradient
Measurement apparatus and computational methods.
Background technology
With continuing to develop for electric automobile industry, people are for dynamic property, course continuation mileage and the requirement of experience by bus
More and more higher, conventional vehicle measures vehicle acceleration by the acceleration of wheel speed calculation vehicle or by acceleration transducer,
The data error that the former calculating is obtained is larger, and the latter's acceleration transducer is influenceed by the gradient residing for vehicle, when vehicle is in slope
Cannot be distinguished by actual acceleration and grade information when on road, thus control unit can not accurate acquisition vehicle actual acceleration and
Gradient size where vehicle, and then power output can not effectively be adjusted.For example, Chinese patent literature CN00112880.9
A kind of high speed self adaptable acceleration and slope measuring sensor are disclosed, it is according to balance mechanics principle, based on spatial coordinate
The balance slide block m of spring linkage is respectively mounted in mutual perpendicular type lead rail axis centered on three axle axle center1With fixed weight balance weight m2,
And be connected by mutual perpendicular type amendment joint with pedestal；According to acceleration equation of equilibrium aml=p ' L and adaptive equalization formula
am1GL=am2H realizes the acceleration analysis with environment self-correction ability；And carry out slope measuring using its self-correction mechanism.
But its defect is, although it is respectively mounted the balance slide block m of spring linkage in mutual perpendicular type lead rail axis1With fixed weight balance weight
m2, but due to balance slide block m1Frictional force is also had in itself with one end of fixed weight balance weight, and itself is when vehicle accelerates
Can be affected, therefore, the device can not accurate acquisition vehicle actual acceleration and vehicle where the gradient.
Although also occurring in that now while utilizing acceleration transducer and Slope Transducer measurement vehicle acceleration and the gradient
Technology, but acceleration transducer in the market and Slope Transducer in actual use can not distinguish the two
Come, in other words, if actual acceleration is to have slope change in the case of zero, acceleration transducer output also can be with change
Change.If there is the change of acceleration in the case that actual grade is constant, Slope Transducer can also change therewith.When the sum actually accelerated
Actual grade just cannot be distinguished from out both actual sizes when changing simultaneously.
In view of the above-mentioned problems, needing badly now a kind of can accurately measure and distinguish vehicle actual acceleration and the residing gradient
Device and computational methods.
The content of the invention
The purpose of the present invention is that there is provided a kind of measurement of vehicle acceleration and residing gradient dress in view of the shortcomings of the prior art
Put and computational methods, effectively can measure and distinguish vehicle actual acceleration and the residing gradient.
The technical scheme of the present invention that solves the problems, such as is：The measurement apparatus of a kind of vehicle acceleration and the residing gradient is provided, wrapped
Include acceleration transducer, gyro sensor, microcontroller, power module and communication module, the acceleration transducer, gyro
Instrument sensor, power module and communication module are connected with microcontroller respectively, and the acceleration transducer is two-axis or three axles
Formula.
Further, the gyro sensor is an axle or multiaxis gyroscope sensor.
Further, the microcontroller is also associated with temperature sensor, and the microcontroller is provided with temperature-compensating
Chip.The temperature sensor is used for the environment temperature for detecting the measurement apparatus, and the temperature-compensated chip is used to calculate and added
Velocity sensor output quantity variation with temperature simultaneously carries out temperature-compensating to acceleration transducer output quantity.
Further, the measurement apparatus is provided with shell, and the shell is provided with damper, and the damper can be reduced
The influence to measurement apparatus is vibrated, accuracy of measurement is improved.
The computational methods of a kind of vehicle acceleration and the residing gradient, comprise the following steps：
(1) vehicle forward direction is set as y-axis, and the vertical direction of vehicle chassis is z-axis；
(2) acceleration actual value a is calculatedActual value：
(2.1) real-time acceleration measurement a is measured along the y-axis direction by acceleration transducerMeasured value；
(2.2) absolute value of real-time slope measurement is measured along the z-axis direction by acceleration transducer | θMeasured value|；
(2.3) the acceleration actual value of vehicle is calculated：
When vehicle is in upward slope state：Acceleration actual value aActual value=aMeasured value-g×sin|θMeasured value|；
When vehicle is in descending state：Acceleration actual value aActual value=aClear value+g×sin|θClear value|；
Wherein, g is acceleration of gravity；
(3) the actual grade value residing for vehicle is calculated：
(3.1) initial value of slope θ is measured along y-axis by acceleration transducer in vehicle launch0, and use acceleration sensing
Device is proofreaded along the slope measurement of z-axis；
(3.2) angular velocity omega of slope change is measured along y-axis by gyro sensor, and then calculates slope change value △
θ, calculation formula is：
Wherein, t represents time, t0Represent initial time；
(3.3) the actual grade value residing for vehicle is calculated：θ=θ0+△θ。
Further, in step (2.1), acceleration measurement aMeasured value=g × ((Vouty-2.5)/S), wherein, Vouty
The output analog voltage signal value along y-axis of acceleration transducer measurement is represented, S represents that the susceptibility of acceleration transducer is normal
Number, g represents acceleration of gravity.
Further, in step (2.2), the absolute value of slope measurement | θMeasured value|=arc cos ((Voutz-2.5)/
S), wherein Voutz represents the output analog voltage signal value along z-axis of acceleration transducer measurement, and S represents acceleration transducer
Susceptibility constant.
Further, in step (3.1), the initial value of slope θ that acceleration transducer is measured along y-axis0=arcsin
((Vouty-2.5)/S) |T=0。
Further, in step (3.1), when acceleration transducer along y-axis measures initial value of slope θ0With the gradient along z-axis
When differing between measured value within 2 degree, then the initial value of slope θ that acceleration transducer is measured along y-axis is judged0Measurement is accurate；If
2 degree are differed by more than, then judges that acceleration transducer breaks down.
Further, the model SCA61 of the acceleration transducer.
Beneficial effects of the present invention are：
1st, the gradient residing for the actual acceleration and vehicle of device of the present invention and computational methods energy effective district separating vehicles, has
Beneficial to the realization of vehicle system in slope；
2nd, device of the present invention and computational methods can exclude influence of the gradient residing for vehicle to vehicle actual acceleration,
Controller is enabled effectively to adjust the power output of vehicle, balanced power and economy.
3rd, present invention measurement is accurate, strong antijamming capability, such as temperature sensor, temperature-compensated chip, shock absorber structure
Setting, further increase the degree of accuracy of measurement.
Brief description of the drawings
Fig. 1 is the structural schematic block diagram of the measurement apparatus of vehicle acceleration of the present invention and the residing gradient；
Fig. 2 is the acceleration measurement a of upward slope state in computational methods of the present inventionMeasured valueWith acceleration actual value aActual value
Relation schematic diagram；
Fig. 3 is the acceleration measurement a of descending state in computational methods of the present inventionMeasured valueWith acceleration actual value aActual value
Relation schematic diagram.
In figure：M represents the quality of vehicle, and g represents acceleration of gravity, and θ represents the actual grade value residing for vehicle, and N is represented
Holding power of the road surface to vehicle.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is further illustrated.
As shown in figure 1, the measurement apparatus of a kind of vehicle acceleration and the residing gradient, including acceleration transducer, gyroscope
Sensor, microcontroller, power module and communication module, the acceleration transducer, gyro sensor, power module and logical
Letter module is connected with microcontroller respectively, and the acceleration transducer is two-axis or triple axle；The gyro sensor is
One axle or multiaxis gyroscope sensor；The microcontroller is also associated with temperature sensor, and the microcontroller is provided with temperature
Spend compensation chips；The temperature sensor is used for the environment temperature for detecting the measurement apparatus, and the temperature-compensated chip is used for
Calculate acceleration transducer output quantity variation with temperature and temperature-compensating is carried out to acceleration transducer output quantity；The measurement
Device is provided with shell, and the shell is provided with damper, and the damper can reduce influence of the vibration to measurement apparatus, improve
Accuracy of measurement.
The course of work of the measurement apparatus is：Acceleration transducer measures the real-time acceleration measurement of vehicle, vehicle
Then the data measured are sent to microcontroller, micro-control by the real-time slope measurement of initial value of slope, vehicle during startup
Device processed obtained after data processing the acceleration actual value of vehicle；Gyro sensor measures the angular speed and biography of slope change
Microcontroller is given, microcontroller is integrated the actual grade value obtained after processing residing for vehicle to it；Microcontroller can
The data after processing are sent to distance host by communication module, distance host also can be by communication module to microcontroller
Send data, microcontroller can according to the data received from distance host again with acceleration transducer, gyro sensor
Interact.
As shown in Figures 2 and 3, the computational methods of a kind of vehicle acceleration and the residing gradient, comprise the following steps：
(1) vehicle forward direction is set as y-axis, and the vertical direction of vehicle chassis is z-axis；
(2) acceleration actual value a is calculatedActual value：
(2.1) real-time acceleration measurement a is measured along the y-axis direction by acceleration transducerMeasured value；
(2.2) absolute value of real-time slope measurement is measured along the z-axis direction by acceleration transducer | θMeasured value|；
(2.3) the acceleration actual value of vehicle is calculated：
When vehicle is in upward slope state：Acceleration actual value aActual value=aMeasured value-g×sin|θMeasured value|；
When vehicle is in descending state：Acceleration actual value aActual value=aMeasured value+g×sin|θMeasured value|；
Wherein, g is acceleration of gravity；
(3) the actual grade value residing for vehicle is calculated：
(3.1) initial value of slope θ is measured along y-axis by acceleration transducer in vehicle launch0, and use acceleration sensing
Device is proofreaded along the slope measurement of z-axis；
(3.2) angular velocity omega of slope change is measured along y-axis by gyro sensor, and then calculates slope change value △
θ, calculation formula is：
Wherein, t represents time, t0Represent initial time；
(3.3) the actual grade value residing for vehicle is calculated：θ=θ0+△θ。
In the present embodiment, the model SCA61 of the acceleration transducer.
In step (2.1), acceleration measurement aMeasured value=g × ((Vouty-2.5)/S), wherein, Vouty represents to accelerate
The output analog voltage signal value along y-axis of sensor measurement is spent, S represents the susceptibility constant of acceleration transducer, and g represents weight
Power acceleration.
In step (2.2), the absolute value of slope measurement | θMeasured value|=arc cos ((Voutz-2.5)/S), wherein
Voutz represents the output analog voltage signal value along z-axis of acceleration transducer measurement, and S represents the sensitivity of acceleration transducer
Spend constant.
In step (3.1), the initial value of slope θ that acceleration transducer is measured along y-axis0=arcsin ((Vouty-2.5)/
S)|T=0。
In step (3.1), when acceleration transducer along y-axis measures initial value of slope θ0With the slope measurement along z-axis it
Between within 2 degree of difference when, then the initial value of slope θ that is measured along y-axis of judgement acceleration transducer0Measurement is accurate；If differing by more than 2
Degree then judges that acceleration transducer breaks down.
The present invention is not limited to above-mentioned embodiment, in the case of without departing substantially from substantive content of the present invention, art technology
Any deformation that personnel are contemplated that, improvement, replace and each fall within protection scope of the present invention.
Claims (10)
1. the measurement apparatus of a kind of vehicle acceleration and the residing gradient, it is characterised in that passed including acceleration transducer, gyroscope
Sensor, microcontroller, power module and communication module, the acceleration transducer, gyro sensor, power module and communication
Module is connected with microcontroller respectively, and the acceleration transducer is two-axis or triple axle.
2. the measurement apparatus of vehicle acceleration according to claim 1 and the residing gradient, it is characterised in that the gyroscope
Sensor is an axle or multiaxis gyroscope sensor.
3. the measurement apparatus of vehicle acceleration according to claim 1 and the residing gradient, it is characterised in that the microcontroller
Device is also associated with temperature sensor, and the microcontroller is provided with temperature-compensated chip.
4. the measurement apparatus of vehicle acceleration according to claim 1 and the residing gradient, it is characterised in that the measurement dress
Shell is installed, the shell is provided with damper.
5. the computational methods of a kind of vehicle acceleration and the residing gradient, it is characterised in that comprise the following steps：
(1) vehicle forward direction is set as y-axis, and the vertical direction of vehicle chassis is z-axis；
(2) acceleration actual value a is calculatedActual value：
(2.1) real-time acceleration measurement a is measured along the y-axis direction by acceleration transducerMeasured value；
(2.2) absolute value of real-time slope measurement is measured along the z-axis direction by acceleration transducer | θMeasured value|；
(2.3) the acceleration actual value of vehicle is calculated：
When vehicle is in upward slope state：Acceleration actual value aActual value=aMeasured value-g×sin|θMeasured value|；
When vehicle is in descending state：Acceleration actual value aActual value=aMeasured value+g×sin|θMeasured value|；
Wherein, g is acceleration of gravity；
(3) the actual grade value residing for vehicle is calculated：
(3.1) initial value of slope θ is measured along y-axis by acceleration transducer in vehicle launch0, and with acceleration transducer along z
The slope measurement of axle is proofreaded；
(3.2) angular velocity omega of slope change is measured along y-axis by gyro sensor, and then calculates slope change value △ θ, meter
Calculating formula is：
<mrow>
<mi>&Delta;</mi>
<mi>&theta;</mi>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<msub>
<mi>t</mi>
<mn>0</mn>
</msub>
<mi>t</mi>
</msubsup>
<mi>&omega;</mi>
<mi>d</mi>
<mi>t</mi>
<mo>,</mo>
</mrow>
Wherein, t represents time, t0Represent initial time；
(3.3) the actual grade value residing for vehicle is calculated：θ=θ0+△θ。
6. the computational methods of vehicle acceleration according to claim 5 and the residing gradient, it is characterised in that step (2.1)
In, acceleration measurement aMeasured value=g × ((Vouty-2.5)/S), wherein, Vouty represent acceleration transducer measurement along y
The output analog voltage signal value of axle, S represents the susceptibility constant of acceleration transducer, and g represents acceleration of gravity.
7. the computational methods of vehicle acceleration according to claim 5 and the residing gradient, it is characterised in that step (2.2)
In, the absolute value of slope measurement | θMeasured value|=arc cos ((Voutz-2.5)/S), wherein Voutz represents acceleration sensing
The output analog voltage signal value along z-axis of device measurement, S represents the susceptibility constant of acceleration transducer.
8. the computational methods of vehicle acceleration according to claim 5 and the residing gradient, it is characterised in that step (3.1)
In, the initial value of slope θ that acceleration transducer is measured along y-axis0=arcsin ((Vouty-2.5)/S) |T=0。
9. the computational methods of vehicle acceleration according to claim 5 and the residing gradient, it is characterised in that step (3.1)
In, when acceleration transducer along y-axis measures initial value of slope θ0When being differed between the slope measurement along z-axis within 2 degree, then
Judge the initial value of slope θ that acceleration transducer is measured along y-axis0Measurement is accurate；If differing by more than 2 degree, judge that acceleration is passed
Sensor breaks down.
10. the computational methods of the vehicle acceleration and the residing gradient according to any one of claim 6~9, it is characterised in that
The model SCA61 of the acceleration transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710441892.2A CN107132377A (en) | 2017-06-13 | 2017-06-13 | The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710441892.2A CN107132377A (en) | 2017-06-13 | 2017-06-13 | The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107132377A true CN107132377A (en) | 2017-09-05 |
Family
ID=59733863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710441892.2A Pending CN107132377A (en) | 2017-06-13 | 2017-06-13 | The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107132377A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337051A (en) * | 2020-03-17 | 2020-06-26 | 北京百度网讯科技有限公司 | Method and device for calibrating forward axis of vehicle accelerometer |
| CN113442932A (en) * | 2021-07-28 | 2021-09-28 | 广州小鹏汽车科技有限公司 | Method, apparatus, vehicle, and computer-readable storage medium for estimating road surface gradient |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1085656A (en) * | 1992-09-30 | 1994-04-20 | 易通公司 | A kind of angle of gradient and acceleration transducer |
| CN1275718A (en) * | 2000-04-25 | 2000-12-06 | 黄松柏 | High speed self adaptable acceleration and slope measuring sensor |
| CN101196534A (en) * | 2006-12-07 | 2008-06-11 | 日产自动车株式会社 | Acceleration detection device, acceleration detection method and neutral control device employing same |
| CN101509768A (en) * | 2009-03-26 | 2009-08-19 | 清华大学 | Vehicle-mounted road grade recognition device and method based on low cost acceleration sensor |
| CN102313535A (en) * | 2011-06-29 | 2012-01-11 | 惠州市德赛西威汽车电子有限公司 | Slope detection method |
| CN103632062A (en) * | 2013-12-06 | 2014-03-12 | 北京乾图方园软件技术有限公司 | Method and device for determining uphill and downhill running states of vehicle by utilizing acceleration sensor and gyroscope |
| CN104101341A (en) * | 2013-04-02 | 2014-10-15 | 广州三星通信技术研究有限公司 | Method for positioning between mobile terminals and mobile terminal using the same |
| CN105116167A (en) * | 2015-09-10 | 2015-12-02 | 深圳威易森科技有限公司 | Acceleration determination method for motor vehicle running on slope plane |
| CN106052643A (en) * | 2016-07-29 | 2016-10-26 | 东风商用车有限公司 | Real gradient sensor for automobile and use method thereof |
-
2017
- 2017-06-13 CN CN201710441892.2A patent/CN107132377A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1085656A (en) * | 1992-09-30 | 1994-04-20 | 易通公司 | A kind of angle of gradient and acceleration transducer |
| CN1275718A (en) * | 2000-04-25 | 2000-12-06 | 黄松柏 | High speed self adaptable acceleration and slope measuring sensor |
| CN101196534A (en) * | 2006-12-07 | 2008-06-11 | 日产自动车株式会社 | Acceleration detection device, acceleration detection method and neutral control device employing same |
| CN101509768A (en) * | 2009-03-26 | 2009-08-19 | 清华大学 | Vehicle-mounted road grade recognition device and method based on low cost acceleration sensor |
| CN102313535A (en) * | 2011-06-29 | 2012-01-11 | 惠州市德赛西威汽车电子有限公司 | Slope detection method |
| CN104101341A (en) * | 2013-04-02 | 2014-10-15 | 广州三星通信技术研究有限公司 | Method for positioning between mobile terminals and mobile terminal using the same |
| CN103632062A (en) * | 2013-12-06 | 2014-03-12 | 北京乾图方园软件技术有限公司 | Method and device for determining uphill and downhill running states of vehicle by utilizing acceleration sensor and gyroscope |
| CN105116167A (en) * | 2015-09-10 | 2015-12-02 | 深圳威易森科技有限公司 | Acceleration determination method for motor vehicle running on slope plane |
| CN106052643A (en) * | 2016-07-29 | 2016-10-26 | 东风商用车有限公司 | Real gradient sensor for automobile and use method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337051A (en) * | 2020-03-17 | 2020-06-26 | 北京百度网讯科技有限公司 | Method and device for calibrating forward axis of vehicle accelerometer |
| CN111337051B (en) * | 2020-03-17 | 2022-02-01 | 阿波罗智联(北京)科技有限公司 | Method and device for calibrating forward axis of vehicle accelerometer |
| CN113442932A (en) * | 2021-07-28 | 2021-09-28 | 广州小鹏汽车科技有限公司 | Method, apparatus, vehicle, and computer-readable storage medium for estimating road surface gradient |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Kooijman et al. | Experimental validation of a model of an uncontrolled bicycle | |
| CN103632062B (en) | Method and device for determining uphill and downhill running states of vehicle | |
| CN102778287B (en) | System and method for controlling tiltable weighing electronic scale | |
| CN106840519B (en) | A kind of static measurement method of two-axle car height of center of mass | |
| CN105109490B (en) | Method for judging sharp turn of vehicle based on three-axis acceleration sensor | |
| CN108225313B (en) | Attitude and heading reference instrument based on redundant MEMS sensor | |
| US5670872A (en) | System and device with vertical and rotary wheel-velocity-measuring for determining vehicle displacement | |
| CN202368604U (en) | Detecting device for dynamically detecting heights of left and right steel rails of railway track | |
| CN105371846B (en) | Attitude of carrier detection method and its system | |
| CN102730000A (en) | Method for calculating dynamic center of mass of vehicle, and method and system for calculating yaw moment | |
| CN103884514B (en) | A kind of multifunction motor vehicle measuring instrument and detection method | |
| Chatur | Computer based wireless automobile wheel alignment system using accelerometer | |
| CN107132377A (en) | The measurement apparatus and computational methods of a kind of vehicle acceleration and the residing gradient | |
| CN104005324A (en) | Pavement texture information detection system | |
| CN104568092A (en) | Multi-functional comprehensive rail weighbridge | |
| EP2985606B1 (en) | Speed calculation device and speed calculation method | |
| US3744321A (en) | Rotating body unbalance detector-locator | |
| CN206975069U (en) | A kind of measurement apparatus of vehicle acceleration and the residing gradient | |
| CN104748734A (en) | Vehicle-mounted electronic altitude compass having dip angle compensation function | |
| CN203981407U (en) | The portable brake performance tester of embedded electronic gyroscope | |
| WO2023124577A1 (en) | Calibration method and system for incident angle of portable high-pressure water jet for steel rail grinding | |
| CN102419168A (en) | Device for measuring and displaying horizontal angle of inclination of airplane and measurement and display method thereof | |
| JP6083793B2 (en) | Vehicle natural frequency detection device and gravity center position measurement device | |
| JP2011053008A (en) | Device for estimating operation state of steering, and program | |
| JPH11295335A (en) | Detecting apparatus for position of moving body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240322 |
|
| AD01 | Patent right deemed abandoned |