CN109254172A - The position calibration method and device of automobile-used acceleration transducer, vehicle control apparatus - Google Patents
The position calibration method and device of automobile-used acceleration transducer, vehicle control apparatus Download PDFInfo
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Abstract
The present invention relates to the location calibration devices and vehicle control apparatus of the position calibration method of automobile-used acceleration transducer, automobile-used acceleration transducer.The position calibration method of automobile-used acceleration transducer of the invention, suitable for executing this method computer equipment, wherein this method includes the following steps: on the road surface of rated condition vehicle to be accelerated, acquire the wheel speed gradient value of the wheel speed sensors output of multiple measurement points and the acceleration value of automobile-used acceleration transducer output, in the case where the error of the two is located at prescribed limit, being determined as automobile-used acceleration transducer, there are setting angle errors；Acceleration value based on the automobile-used acceleration transducer output of wheel speed gradient value calibration.In accordance with the invention it is possible to calibrate automobile-used acceleration transducer output valve.
Description
Technical field
The present invention relates to field of vehicle control, in particular to the position calibration method of automobile-used acceleration transducer, it is automobile-used plus
The location calibration device and vehicle control apparatus of velocity sensor.
Background technique
Automobile-used acceleration transducer is EPB, HHC, AVH etc. to be widely used in, for adding for measuring vehicle acceleration
The installation accuracy of velocity sensor has certain requirement, if installation inaccuracy will have a direct impact on performance.
Automobile-used acceleration transducer installation site is fixed when general vehicle factory, for example, under normal circumstances
Automobile-used acceleration transducer is mounted in below front-row seats, is such as mounted on centroid position.But once when vehicle occurs
In the case where collision, the setting angle of sensor may generate deviation, lead to error occur, due to automobile sensor
Output error may will affect the performance of vehicle.
On the other hand, other than vehicle collision, it can also happen that automobile-used acceleration transducer is installed before vehicle release
When angle generate anti-loaded or deviation the case where.Moreover, although it is correct to there is also automobile-used acceleration transducer installation site,
The problem of zero point of automobile-used acceleration transducer is not found.
Installation error or zero point error for automobile-used acceleration transducer etc. there is no out detect this installation mistake at present
The method or device of difference.
Being disclosed in the information of background parts of the present invention, it is only intended to increase understanding of the overall background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
In consideration of it, the present invention provides a kind of position calibration method of automobile-used acceleration transducer, automobile-used acceleration transducer
Location calibration device and vehicle control apparatus, can installation error to automobile-used acceleration transducer or zero point error into
Row calibration.
The position calibration method of the automobile-used acceleration transducer of an aspect of of the present present invention, suitable for being held computer equipment
Row this method, which is characterized in that this method includes the following steps:
Setting angle error determination step, vehicle accelerates on the road surface of rated condition, acquires the wheel speed sensing of multiple measurement points
The wheel speed gradient value of device output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed gradient of wheel speed sensors output
In the case that error between value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as automobile-used add
There are setting angle errors for velocity sensor；And
Calibrate for error step, determines to be based on the wheel there are in the case where error in the setting angle error determination step
The acceleration value of automobile-used acceleration transducer output described in fast gradient value calibration.
Optionally, the setting angle error determination step includes following sub-steps:
Sub-step is acquired, vehicle accelerates on the road surface of the rated condition, acquires multiple measurements with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of point and the acceleration value of automobile-used acceleration transducer output；
Sub-step is calculated, calculating is compared to every two adjacent measurement points, wherein set the wheel speed gradient of two adjacent measurement points
Value is AX1, AX2, if the acceleration value of the automobile-used acceleration transducer output of two adjacent measurement points is AX11, AX22, wherein
Set coefficient b and m, b=(AX1-AX11)/(AX2-AX22), m=AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are pre-
The threshold value first set；And
Determine sub-step, works as b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
Optionally, the step that calibrates for error includes following sub-steps:
Sub-step is sampled, determines to adopt N number of measurement point there are in the case where error in the setting angle error determination step
Collect acceleration value AX11, AX22, AX33 ... of wheel speed gradient value AX1, AX2, AX3 ... AXN and the output of automobile-used acceleration transducer
AXNN, wherein N is natural number；
First calculating sub-step, calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/AXN；
Second calculate sub-step, calculate Cosa1, Cosa2 ... Cosa(N-1) average value obtain Cosa'；And
Sub-step is calibrated, the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=AX/
Cosa'。
Optionally, the second calculating step includes the following steps:
The Cosa(N-1 for Cosa1, Cosa2 ...) removal singular point；And
To with removal singular point after left point in maximum Cosa value and minimum Cosa value be compared, as the maximum Cosa
Be worth the minimum Cosa value between difference within the specified scope when, take the average value of Cosa value of left point as Cosa'.
Optionally, it is also equipped with: zero point error determination step, vehicle launch and static situation on the road surface of rated condition
Under, the acceleration value of automobile-used acceleration transducer output and the wheel speed gradient value of wheel speed sensors output are read, when the acceleration
Between angle value and the wheel speed gradient value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；
And
Zero point error calibration steps determines in the zero point error determination step there are in the case where zero point error, will be current
The acceleration value AX of automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=acceleration value
AX+ deviation.
Optionally, the road surface of the rated condition refers to road surface within positive and negative 10 degree and road surface is dry.
The location calibration device of the automobile-used acceleration transducer of one aspect of the present invention, which is characterized in that have following programs
Module:
Setting angle error determination module, vehicle accelerates on the road surface of the rated condition, acquires the wheel speed of multiple measurement points
The wheel speed gradient value of sensor output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed of wheel speed sensors output
In the case that error between gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as vehicle
With acceleration transducer, there are setting angle errors；And
Calibrate for error module, determines to be based on the wheel speed there are in the case where error in the setting angle error determination module
The acceleration value of automobile-used acceleration transducer output described in gradient value calibration.
Optionally, the setting angle error determination module includes following submodules:
Submodule is acquired, vehicle accelerates on the road surface of the rated condition, acquires multiple measurements with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of point and the acceleration value of automobile-used acceleration transducer output；
Computational submodule is compared meter by the every two adjacent measurement points in the acquisition collected measurement point of submodule
It calculates, wherein the wheel speed gradient value of two adjacent measurement points is set as AX1, AX2, if the automobile-used acceleration of two adjacent measurement points passes
The acceleration value of sensor output is AX11, AX22, wherein sets coefficient b and m, b=(AX1-AX11)/(AX2-AX22), m=
AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are preset threshold value；And
Decision sub-module works as b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
Optionally, the module that calibrates for error includes following submodules:
Submodule is sampled, determines to acquire N number of measurement point there are in the case where error by the setting angle error determination module
Acceleration value AX11, AX22, AX33 ... of wheel speed gradient value AX1, AX2, AX3 ... AXN and the output of automobile-used acceleration transducer
AXNN, wherein N is natural number；
First computational submodule, calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/AXN；
Second computational submodule, calculate Cosa1, Cosa2 ... Cosa(N-1) average value obtain Cosa'；And
Submodule is calibrated, the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=AX/
Cosa'。
Optionally, second computational submodule includes:
Singular point removes submodule, the Cosa(N-1 for Cosa1, Cosa2 ...) removal singular point；And
Mean value calculation submodule, to by the maximum Cosa in the left point after singular point removal submodule removal singular point
Value and minimum Cosa value are compared, when the difference between the maximum Cosa value and the minimum Cosa value within the specified scope
When, the average value of Cosa value of left point is calculated as Cosa'.
Optionally, it is also equipped with:
Zero point error determination module, vehicle launch on the road surface of rated condition and it is static in the case where, read automobile-used acceleration
The acceleration value of sensor output and the wheel speed gradient value of wheel speed sensors output, when the acceleration value and the wheel speed gradient
Between value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration module determines in the zero point error determination step there are in the case where zero point error, will be current
The acceleration value AX of automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=acceleration value
AX+ deviation.
The vehicle control apparatus of an aspect of of the present present invention, has:
Processor；And
Equipment is stored, is suitable for storing a plurality of instruction, which is characterized in that
Described instruction is suitable for being loaded by the processor and executing following step:
Setting angle error determination step, vehicle accelerates on the road surface of the rated condition, acquires the wheel speed of multiple measurement points
The wheel speed gradient value of sensor output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed of wheel speed sensors output
In the case that error between gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as vehicle
With acceleration transducer, there are setting angle errors；And
Calibrate for error step, determines to be based on the wheel there are in the case where error in the setting angle error determination step
The acceleration value of automobile-used acceleration transducer output described in fast gradient value calibration.
Optionally, described instruction is further adapted for being loaded by processor and executes following step: zero point error determination step,
Vehicle launch on the road surface of rated condition and it is static in the case where, read the output of automobile-used acceleration transducer acceleration value and
The wheel speed gradient value of wheel speed sensors output, when there are deviations between the acceleration value and the wheel speed gradient value the case where
Under be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration steps determines in the zero point error determination step there are in the case where zero point error, will be current
The acceleration value AX of automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=acceleration value
AX+ deviation.
As described above, the position calibration method of automobile-used acceleration transducer according to the present invention, automobile-used acceleration transducer
Location calibration device and vehicle control apparatus can monitor automobile-used acceleration transducer zero point error, installation site miss
Difference can be improved the accuracy of measurement of automobile-used acceleration transducer.
It is used to illustrate the specific reality of certain principles of the invention together with attached drawing by include this paper attached drawing and then
Mode is applied, other feature possessed by methods and apparatus of the present invention and advantage will become more concrete or explained
It is bright.
Detailed description of the invention
Fig. 1 is the flow chart for indicating the position calibration method of automobile-used acceleration transducer of an embodiment of the present invention.
Fig. 2 is the flow chart for indicating the position calibration method of automobile-used acceleration transducer of a further embodiment of this invention.
Fig. 3 is the schematic diagram for indicating Cosa1=AX22/AX2.
Fig. 4 is the schematic diagram for indicating to remove abnormal outlier.
Fig. 5 is the structural map for indicating the location calibration device of automobile-used acceleration transducer of one embodiment of the present invention.
Fig. 6 is the construction for indicating the location calibration device of automobile-used acceleration transducer of another embodiment of the invention
Figure.
Fig. 7 is the construction for indicating the location calibration device of automobile-used acceleration transducer of another embodiment of the invention
Figure.
Specific embodiment
What is be described below is some in multiple embodiments of the invention, it is desirable to provide to basic understanding of the invention.And
It is not intended to and confirms crucial or conclusive element of the invention or limit scope of the claimed.
The error of automobile-used acceleration transducer can be roughly divided into two types: sensor position installation is correct, but sensor
Zero point do not find (also referred to as zero point error)；Sensor angles installation error caused by due to being machined, installing etc.
(location error).The previous case needs to demarcate zero point, and latter situation needs to demarcate position.
Wheel speed gradient of the present inventor to acceleration value and the wheel speed sensors output of automobile-used acceleration transducer
Value compares, and discovery (is not present zero point error, is also not present in the case where automobile-used acceleration transducer normal mounting
In the case where location error), the wheel speed gradient value of wheel speed sensors output and the acceleration value of automobile-used acceleration transducer output
Almost error is 0.
On the other hand, inventor has found by multiple DATA REASONING, and automobile-used acceleration transducer position is rotated certain angle
Degree, for example, in the case where 30 degree, the ratio of the wheel speed gradient of acceleration value and the wheel speed sensors output of automobile-used acceleration transducer
Value is 0.84, and automobile-used acceleration sensing position is installed in normal situation (in the case that i.e. setting angle is 0 degree), automobile-used to add
The ratio of the wheel speed gradient of acceleration value and the wheel speed sensors output of velocity sensor is 0.837, it is seen then that even if adding automobile-used
In the case that the setting angle of velocity sensor deviates, the acceleration value and wheel speed sensors of automobile-used acceleration transducer are defeated
The ratio of wheel speed gradient out still substantially can also guarantee consistency.
In order to eliminate the error of automobile-used acceleration transducer, based on the research of foregoing invention people, the invention proposes following
Position calibration method.
Fig. 1 is the flow chart for indicating the position calibration method of automobile-used acceleration transducer of an embodiment of the present invention.
As shown in Figure 1, the position calibration method of the automobile-used acceleration transducer of an embodiment of the present invention is suitable for counting
It calculates and is executed in machine equipment, this method includes the following steps:
Zero point error determination step S10: vehicle launch on the road surface of rated condition and it is static in the case where, read automobile-used acceleration
The acceleration value of sensor output and the wheel speed gradient value of wheel speed sensors output are spent, when the acceleration value and wheel speed ladder
Between angle value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration steps S20: determining in the zero point error determination step there are in the case where zero point error, will be current
Automobile-used acceleration transducer output acceleration value AX be calibrated to acceleration value AX', wherein acceleration value AX'=acceleration
Value AX+ deviation；And
Error storing step S30: storage is when there are deviation, (error is deposited between the acceleration value and the wheel speed gradient value
Storing up step S30 is preferred steps).
Wherein, road surface is referred on the road surface of the rated condition and level is within 10 degree and is dry road surface.Separately
Outside, as an embodiment, the wheel speed gradient value of wheel speed sensors output can with the ESP software of applicant (Bosch) according to
The velocity variations of wheel speed sensors calculate the acceleration of driving wheel automatically.
In this way, when automobile-used acceleration transducer is there are when zero point error, as long as being calibrated by above step, so that school
The current acceleration value of the automobile-used acceleration transducer output of acceleration value AX'=acceleration value AX(after standard)+deviation,
Thereby, it is possible to obtain the output of accurate automobile-used acceleration transducer.
Then, the position calibration method of the automobile-used acceleration transducer of a further embodiment of this invention is illustrated.
Fig. 2 is the flow chart for indicating the position calibration method of automobile-used acceleration transducer of a further embodiment of this invention.
As shown in Fig. 2, the position calibration method of the automobile-used acceleration transducer of a further embodiment of this invention is suitable for
It is executed in computer equipment, this method includes the following steps:
Setting angle error determination step S101: vehicle accelerates on the road surface of the rated condition, acquires multiple measurement points
The wheel speed gradient value of wheel speed sensors output and the acceleration value of automobile-used acceleration transducer output, in wheel speed sensors output
In the case that error between wheel speed gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, determine
For automobile-used acceleration transducer, there are setting angle errors；And
The step that calibrates for error S102: determine to be based on institute there are in the case where error in the setting angle error determination step
State the acceleration value of automobile-used acceleration transducer output described in wheel speed gradient value calibration.
In the above scheme, road surface is referred on the road surface of the rated condition less than 10 ° and is with horizontal angle
Dry road surface.
Then, above-mentioned setting angle error determination step S101 and the above-mentioned step S102 that calibrates for error are carried out specifically
It is bright.
Wherein, above-mentioned setting angle error determination step S101 includes following sub-steps:
Acquire sub-step: vehicle accelerates on the road surface of the rated condition, acquires multiple measurements with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of point and the acceleration value of automobile-used acceleration transducer output, such as here, as
One embodiment, in acquisition sub-step, for example, vehicle accelerates on the road surface of rated condition, so that air throttle is slowly stepped on
80% linear acceleration (10 ° < sensor angles < 10 °) is measured using the every increase 10kph of speed as measurement point, is acquired N number of
The wheel speed gradient value of the wheel speed sensors output of measurement point and the acceleration value of automobile-used acceleration transducer output；
It calculates sub-step: calculating being compared to every two adjacent measurement points, wherein set the wheel speed gradient of two adjacent measurement points
Value is AX1, AX2, if the acceleration value of the automobile-used acceleration transducer output of two adjacent measurement points is AX11, AX22, wherein
Set coefficient b and m, b=(AX1-AX11)/(AX2-AX22), m=AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are pre-
The threshold value first set；And
Determine sub-step: working as b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
Then, the step S102 that calibrates for error includes following sub-steps:
It samples sub-step: determining to adopt N number of measurement point there are in the case where error in the setting angle error determination step
Collect acceleration value AX11, AX22, AX33 ... of wheel speed gradient value AX1, AX2, AX3 ... AXN and the output of automobile-used acceleration transducer
AXNN, wherein N is natural number；
First calculates sub-step: calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/AXN；
Second calculate sub-step: calculate Cosa1, Cosa2 ... Cosa(N-1) average value obtain Cosa'；And
Calibration sub-step: the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=AX/
Cosa'。
Fig. 3 is the schematic diagram for indicating Cosa1=AX22/AX2.
Then illustrate it is above-mentioned second calculating sub-step in how to calculate Cosa1, Cosa2 ... Cosa(N-1) average value.
The Cosa(N-1 firstly, for Cosa1, Cosa2 ...) removal singular point, that is, remove the Cosa to differ greatly.
Fig. 4 is the schematic diagram for indicating to remove abnormal outlier.
The Cosa(N-1 as shown in figure 4, for Cosa1, Cosa2 ...) removal Fig. 4 in abnormal outlier E.
Then, it is compared to the maximum Cosa value and minimum Cosa value removed in the left point after abnormal outlier E,
When the difference between the maximum Cosa value and the minimum Cosa value within the specified scope when, take the flat of the Cosa value of left point
Mean value is as Cosa'.Add in this way there are in the case where angle installation error by the way that general is currently automobile-used in automobile-used acceleration transducer
The acceleration value AX of velocity sensor output is calibrated to AX'=AX/ Cosa', it will be able to obtain accurate automobile-used acceleration
Value.
In this way, there are automobile-used acceleration transducer angle installation error, if current automobile-used acceleration sensing
The digital value of device is AX, then is AX'=AX/ Cosa' by the value calibration, thus, it is possible to after being calibrated, more accurate vehicles
Use acceleration transducer.
The position calibration method zero point error of the automobile-used acceleration transducer of embodiment of the present invention determines in addition to above-mentioned step
Except rapid S101 and step S102, additionally it is possible to be further equipped with following step:
Zero point error determination step: vehicle launch on the road surface of rated condition and it is static in the case where, read automobile-used acceleration
The acceleration value of sensor output and the wheel speed gradient value of wheel speed sensors output, when the acceleration value and the wheel speed gradient
Between value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration steps: determining in the zero point error determination step there are in the case where zero point error, will be current
The acceleration value AX of automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=acceleration value
AX+ deviation.
As an optional way, zero point error determination step and zero point error calibration steps be can be set in above-mentioned steps
Before S101, but any restriction is not done to this.Above for the automobile-used acceleration sensing of several embodiments of the invention
The position calibration method of device is illustrated.Then, for the location calibration device of automobile-used acceleration transducer of the invention into
Row explanation.
Fig. 5 is the structural map for indicating the location calibration device of automobile-used acceleration transducer of one embodiment of the present invention.
As shown in figure 5, the location calibration device of the automobile-used acceleration transducer of one embodiment of the present invention has:
Zero point error determination module 100, vehicle launch on the road surface of rated condition and it is static in the case where, read automobile-used acceleration
The acceleration value of sensor output and the wheel speed gradient value of wheel speed sensors output are spent, when the acceleration value and wheel speed ladder
Between angle value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration module 200, there are in the case where zero point error, will work as by zero point error determination module judgement
The acceleration value AX of preceding automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=accelerates
Angle value AX+ deviation；And
Error memory module 300, for storing when there are deviations between the acceleration value and the wheel speed gradient value.
Wherein, road surface is referred on the road surface of the rated condition and level is within 10 degree and is dry road surface.Such as
This, when zero point error determination module 100 determines that automobile-used acceleration transducer there are when zero point error, utilizes zero point error calibrating die
Block 200 is calibrated, that is, so that acceleration value AX'=acceleration value AX(automobile-used acceleration transducer output after calibration is worked as
Preceding acceleration value)+deviation, thereby, it is possible to obtain the output of accurate automobile-used acceleration transducer.
Fig. 6 is the construction for indicating the location calibration device of automobile-used acceleration transducer of another embodiment of the invention
Figure.
As shown in fig. 6, the location calibration device of the automobile-used acceleration transducer of a further embodiment of this invention has:
Setting angle error determination module 600, vehicle accelerates on the road surface of the rated condition, acquires the wheel of multiple measurement points
The wheel speed gradient value of fast sensor output and the acceleration value of automobile-used acceleration transducer output, in the wheel of wheel speed sensors output
In the case that error between fast gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as
There are setting angle errors for automobile-used acceleration transducer；And
The module that calibrates for error 700 determines to be based on institute there are in the case where error in the setting angle error determination module 600
State the acceleration value of automobile-used acceleration transducer output described in wheel speed gradient value calibration.
As shown in fig. 6, setting angle error determination module 600 includes following submodules:
Submodule 610 is acquired, vehicle accelerates on the road surface of the rated condition, acquires multiple surveys with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of amount point and the acceleration value of automobile-used acceleration transducer output；
Computational submodule 620 is compared by the every two adjacent measurement points in the acquisition collected measurement point of submodule 610
Compared with calculating, wherein the wheel speed gradient value of two adjacent measurement points is set as AX1, AX2, if the automobile-used acceleration of two adjacent measurement points
The acceleration value for spending sensor output is AX11, AX22, wherein sets coefficient b and m, b=(AX1-AX11)/(AX2-AX22),
M=AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are preset threshold value；And
Decision sub-module 630, works as b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
As shown in fig. 6, the module 700 that calibrates for error includes following submodules:
Submodule 710 is sampled, is determined by the setting angle error determination module 600 there are in the case where error, to N number of measurement
Point acquisition wheel speed gradient value AX1, AX2, AX3 ... AXN and acceleration value AX11, AX22 of automobile-used acceleration transducer output,
AX33 ... AXNN, wherein N is natural number；
First computational submodule 720, calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/
AXN；
Second computational submodule 730 calculates Cosa1, Cosa2 ... Cosa(N-1 for being acquired by the first computational submodule 720) it is flat
Mean value obtains Cosa'；And
Submodule 740 is calibrated, the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=
AX/ Cosa'。
Wherein, second computational submodule 730 includes:
Singular point removes submodule, the Cosa(N-1 for Cosa1, Cosa2 ...) removal singular point；And
Mean value calculation submodule, to by the maximum in the left point after the singular point removal removal singular point of submodule 731
Cosa value and minimum Cosa value are compared, when the difference between the maximum Cosa value and the minimum Cosa value is in regulation model
When enclosing interior, the average value of Cosa value of left point is calculated as Cosa'.
Wherein, singular point removal submodule and mean value calculation submodule are not shown in FIG. 6.
In this way, there are automobile-used acceleration transducer angle installation error, if current automobile-used acceleration sensing
The digital value of device is AX, then is AX'=AX/ Cosa' by the value calibration, thus, it is possible to after being calibrated, more accurate vehicles
Use acceleration transducer.
Then, the location calibration device of the automobile-used acceleration transducer of another embodiment of the invention is said
It is bright.The location calibration device of the automobile-used acceleration transducer of the embodiment be it is shown in Fig. 6 on the basis of further increase zero
Point tolerance determination module 800.
Fig. 7 is the construction for indicating the location calibration device of automobile-used acceleration transducer of another embodiment of the invention
Figure.
As shown in fig. 7, the location calibration device of the automobile-used acceleration transducer of another embodiment of the invention is in addition to tool
Except standby setting angle error determination module 600 and the module 700 that calibrates for error, it is also equipped with:
The zero point error determination module 800 vehicle launch on the road surface of rated condition and it is static in the case where, read it is automobile-used plus
The acceleration value of velocity sensor output and the wheel speed gradient value of wheel speed sensors output, when the acceleration value and the wheel speed
Between gradient value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration module 900 determines in the zero point error determination step there are in the case where zero point error, will be current
Automobile-used acceleration transducer output acceleration value AX be calibrated to acceleration value AX', wherein acceleration value AX'=acceleration
Value AX+ deviation.
The present invention provides a kind of vehicle control apparatus again, has: processor；And storage equipment, it is suitable for storing a plurality of
Instruction, wherein described instruction is suitable for being loaded by the processor and executing following step:
Setting angle error determination step: vehicle accelerates on the road surface of the rated condition, acquires the wheel speed of multiple measurement points
The wheel speed gradient value of sensor output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed of wheel speed sensors output
In the case that error between gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as vehicle
With acceleration transducer, there are setting angle errors；And
Calibrate for error step: determining to be based on the wheel there are in the case where error in the setting angle error determination step
The acceleration value of automobile-used acceleration transducer output described in fast gradient value calibration.
Optionally, described instruction is suitable for being loaded by processor and executing following step:
The setting angle error determination step includes following sub-steps:
Acquire sub-step: vehicle accelerates on the road surface of the rated condition, acquires multiple measurements with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of point and the acceleration value of automobile-used acceleration transducer output；
It calculates sub-step: calculating being compared to every two adjacent measurement points, wherein set the wheel speed gradient of two adjacent measurement points
Value is AX1, AX2, if the acceleration value of the automobile-used acceleration transducer output of two adjacent measurement points is AX11, AX22, wherein
Set coefficient b and m, b=(AX1-AX11)/(AX2-AX22), m=AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are pre-
The threshold value first set；And
Determine sub-step: as judgement b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
Optionally, described instruction is suitable for being loaded by processor and executing following step:
The step that calibrates for error includes following sub-steps:
It samples sub-step: determining to survey N number of measurement point there are in the case where error in the setting angle error determination step
Measure acceleration value AX11, AX22, AX33 ... of wheel speed gradient value AX1, AX2, AX3 ... AXN and the output of automobile-used acceleration transducer
AXNN, wherein N is natural number；
First calculates step: calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/AXN；
Second calculate step, calculate Cosa1, Cosa2 ... Cosa(N-1) average value obtain Cosa'；And
Calibration sub-step: the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=AX/
Cosa'。
Optionally, described instruction is suitable for being loaded by processor and executing following step:
The second calculating step includes the following steps:
The Cosa(N-1 for Cosa1, Cosa2 ...) removal singular point；
To with removal singular point after left point in maximum Cosa value and minimum Cosa value be compared, as the maximum Cosa
Be worth the minimum Cosa value between difference within the specified scope when, take the average value of Cosa value of left point as Cosa'.
Optionally, described instruction is suitable for being loaded by processor and executing following step:
Zero point error determination step: vehicle launch on the road surface of rated condition and it is static in the case where, read automobile-used acceleration
The acceleration value of sensor output and the wheel speed gradient value of wheel speed sensors output, when the acceleration value and the wheel speed gradient
Between value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration steps: determining in the zero point error determination step there are in the case where zero point error, will be current
The acceleration value AX of automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=acceleration value
AX+ deviation.
As an optional way, setting angle mistake is can be set in zero point error determination step and zero point error calibration steps
Before poor determination step, but any restriction is not done to this.
It should be appreciated that term " vehicle " as used herein or " vehicle " or other similar terms generally comprise motor vehicle
, for example including sport vehicle (SUV), utility car, truck, various commerial vehicles riding vehicle, including it is each
The ship of kind boat, ship, aircraft etc., and including hybrid vehicle, electric vehicle, pluggable hybrid electric
Vehicle, hydrogen-powered vehicle and other alternative fuel vehicles (for example originating from the fuel of the nonoil energy).
Example above primarily illustrates the position calibration method of automobile-used acceleration transducer of the invention, automobile-used acceleration passes
The location calibration device and vehicle control apparatus of sensor.Although only being carried out to some of a specific embodiment of the invention
Description, but those of ordinary skill in the art it is to be appreciated that the present invention can without departing from its spirit with range in it is many its
His form is implemented.Therefore, the example shown is considered as illustrative and not restrictive with embodiment, do not depart from as
In the case where spirit and scope of the present invention defined in appended claims, the present invention may cover various modification and replace
It changes.
Claims (13)
1. a kind of position calibration method of automobile-used acceleration transducer, special suitable for executing this method computer equipment
Sign is that this method includes the following steps:
Setting angle error determination step, vehicle accelerates on the road surface of rated condition, acquires the wheel speed sensing of multiple measurement points
The wheel speed gradient value of device output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed gradient of wheel speed sensors output
In the case that error between value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as automobile-used add
There are setting angle errors for velocity sensor；And
Calibrate for error step, determines to be based on the wheel there are in the case where error in the setting angle error determination step
The acceleration value of automobile-used acceleration transducer output described in fast gradient value calibration.
2. the position calibration method of automobile-used acceleration transducer as described in claim 1, which is characterized in that
The setting angle error determination step includes following sub-steps:
Sub-step is acquired, vehicle accelerates on the road surface of the rated condition, acquires multiple measurements with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of point and the acceleration value of automobile-used acceleration transducer output；
Sub-step is calculated, calculating is compared to every two adjacent measurement points, wherein set the wheel speed gradient of two adjacent measurement points
Value is AX1, AX2, if the acceleration value of the automobile-used acceleration transducer output of two adjacent measurement points is AX11, AX22, wherein
Set coefficient b and m, b=(AX1-AX11)/(AX2-AX22), m=AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are pre-
The threshold value first set；And
Determine sub-step, works as b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
3. the position calibration method of automobile-used acceleration transducer as claimed in claim 2, which is characterized in that
The step that calibrates for error includes following sub-steps:
Sub-step is sampled, determines to adopt N number of measurement point there are in the case where error in the setting angle error determination step
Collect acceleration value AX11, AX22, AX33 ... of wheel speed gradient value AX1, AX2, AX3 ... AXN and the output of automobile-used acceleration transducer
AXNN, wherein N is natural number；
First calculating sub-step, calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/AXN；
Second calculate sub-step, calculate Cosa1, Cosa2 ... Cosa(N-1) average value obtain Cosa'；And
Sub-step is calibrated, the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=AX/
Cosa'。
4. the position calibration method of automobile-used acceleration transducer as claimed in claim 2, which is characterized in that
The second calculating step includes the following steps:
The Cosa(N-1 for Cosa1, Cosa2 ...) removal singular point；And
To with removal singular point after left point in maximum Cosa value and minimum Cosa value be compared, as the maximum Cosa
Be worth the minimum Cosa value between difference within the specified scope when, take the average value of Cosa value of left point as Cosa'.
5. the position calibration method of the automobile-used acceleration transducer as described in Claims 1 to 4 any one, which is characterized in that
It is also equipped with:
Zero point error determination step, vehicle launch on the road surface of the rated condition and it is static in the case where, read it is automobile-used plus
The acceleration value of velocity sensor output and the wheel speed gradient value of wheel speed sensors output, when the acceleration value and the wheel speed
Between gradient value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration steps determines in the zero point error determination step there are in the case where zero point error, will be current
The acceleration value AX of automobile-used acceleration transducer output is calibrated to acceleration value AX', wherein acceleration value AX'=acceleration value
AX+ deviation.
6. the position calibration method of the automobile-used acceleration transducer as described in Claims 1 to 4 any one,
The road surface of the rated condition refers to road surface within positive and negative 10 degree and road surface is dry.
7. a kind of location calibration device of automobile-used acceleration transducer, which is characterized in that have following program modules:
Setting angle error determination module, vehicle accelerates on the road surface of the rated condition, acquires the wheel speed of multiple measurement points
The wheel speed gradient value of sensor output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed of wheel speed sensors output
In the case that error between gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as vehicle
With acceleration transducer, there are setting angle errors；And
Calibrate for error module, determines to be based on the wheel speed there are in the case where error in the setting angle error determination module
The acceleration value of automobile-used acceleration transducer output described in gradient value calibration.
8. the location calibration device of automobile-used acceleration transducer as claimed in claim 7, which is characterized in that
The setting angle error determination module includes following submodules:
Submodule is acquired, vehicle accelerates on the road surface of the rated condition, acquires multiple measurements with the every increase specified value of speed
The wheel speed gradient value of the wheel speed sensors output of point and the acceleration value of automobile-used acceleration transducer output；
Computational submodule is compared meter by the every two adjacent measurement points in the acquisition collected measurement point of submodule
It calculates, wherein the wheel speed gradient value of two adjacent measurement points is set as AX1, AX2, if the automobile-used acceleration of two adjacent measurement points passes
The acceleration value of sensor output is AX11, AX22, wherein sets coefficient b and m, b=(AX1-AX11)/(AX2-AX22), m=
AX2AX11/AX1AX22, wherein b1, b2, m1, m2 are preset threshold value；And
Decision sub-module works as b<b1or b>b2 and m1 In the case where<m<m2, it is determined to have setting angle error.
9. the location calibration device of automobile-used acceleration transducer as claimed in claim 8, which is characterized in that
The module that calibrates for error includes following submodules:
Submodule is sampled, determines to acquire N number of measurement point there are in the case where error by the setting angle error determination module
Acceleration value AX11, AX22, AX33 ... of wheel speed gradient value AX1, AX2, AX3 ... AXN and the output of automobile-used acceleration transducer
AXNN, wherein N is natural number；
First computational submodule, calculating Cosa1=AX22/AX2, Cos2=AX33/AX3 ... Cosa(N-1)=AXNN/AXN；
Second computational submodule, calculate Cosa1, Cosa2 ... Cosa(N-1) average value obtain Cosa'；And
Submodule is calibrated, the acceleration value AX of current automobile-used acceleration transducer output is calibrated to AX', wherein AX'=AX/
Cosa'。
10. the location calibration device of automobile-used acceleration transducer as claimed in claim 9, which is characterized in that
Second computational submodule includes:
Singular point removes submodule, the Cosa(N-1 for Cosa1, Cosa2 ...) removal singular point；And
Mean value calculation submodule, to by the maximum Cosa in the left point after singular point removal submodule removal singular point
Value and minimum Cosa value are compared, when the difference between the maximum Cosa value and the minimum Cosa value within the specified scope
When, the average value of Cosa value of left point is calculated as Cosa'.
11. the location calibration device of the automobile-used acceleration transducer as described in claim 7 ~ 10 any one, which is characterized in that
It is also equipped with:
Zero point error determination module, vehicle launch on the road surface of rated condition and it is static in the case where, read automobile-used acceleration
The acceleration value of sensor output and the wheel speed gradient value of wheel speed sensors output, when the acceleration value and the wheel speed gradient
Between value there are deviation in the case where be determined as automobile-used acceleration transducer there are zero point errors；And
Zero point error calibration module determines by the zero point error determination module there are in the case where zero point error, will be current
Automobile-used acceleration transducer output acceleration value AX be calibrated to acceleration value AX', wherein acceleration value AX'=acceleration
Value AX+ deviation.
12. a kind of vehicle control apparatus, has:
Processor；And
Equipment is stored, is suitable for storing a plurality of instruction, which is characterized in that
Described instruction is suitable for being loaded by the processor and executing following step:
Setting angle error determination step, vehicle accelerates on the road surface of the rated condition, acquires the wheel speed of multiple measurement points
The wheel speed gradient value of sensor output and the acceleration value of automobile-used acceleration transducer output, in the wheel speed of wheel speed sensors output
In the case that error between gradient value and the acceleration value of automobile-used acceleration transducer output is located at prescribed limit, it is determined as vehicle
With acceleration transducer, there are setting angle errors；And
Calibrate for error step, determines to be based on the wheel there are in the case where error in the setting angle error determination step
The acceleration value of automobile-used acceleration transducer output described in fast gradient value calibration.
13. vehicle control apparatus as claimed in claim 12, which is characterized in that
Described instruction is further adapted for being loaded by processor and executes following step: zero point error determination step, in rated condition
Road surface on vehicle launch and it is static in the case where, read the acceleration value and wheel speed sensors of the output of automobile-used acceleration transducer
The wheel speed gradient value of output, when between the acceleration value and the wheel speed gradient value there are deviation in the case where be determined as vehicle
With acceleration transducer, there are zero point errors；And
Zero point error calibration steps determines by the zero point error determination module there are in the case where zero point error, will be current
Automobile-used acceleration transducer output acceleration value AX be calibrated to acceleration value AX', wherein acceleration value AX'=acceleration
Value AX+ deviation.
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